I like to lightly steam them. First, I clean them, then I cut the ends and peell away a few of the outside leaves which I eat raw (cook's privilege). Then I cut them in half lengthwise as I've learned that they cook more evenly that way. Then I put them into a plastic bag with lemon juice and seasonings and shake the bejeezus out of it so that the sprouts are covered with seasoning. Then into the steamer they go.
The trick here is not to overcook them because (wiki) overcooking releases the glucosinolate sinigrin, which has a sulphurous odour. The odour is the reason many people profess to dislike Brussels sprouts, having only ever tried them overcooked. Generally, six to seven minutes boiled or steamed is enough to cook them sufficiently.
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