I am raising four kids with different personalities and been practicing pediatrics for almost 20 years. I haven't found any one program or method that works entirely all children.
However, Love and Logic is one of the best my wife and I have come across.
As any parent does it is hard to not compare how our children behave with our nieces and nephews. The difference is surprising. While our kids aren't saints and we had our share of rough patches they behave better in public and with family that any our siblings' kids (I have couple of brothers and wife has three sisters). Our kids come to us with their problems, are friendlier with their siblings, go to bed without a fuss, are doing well in school and probably most telling in current times, as of the time of this writing, have never needed any medication to help control their behavior.