I've always done bench bleeding with the master cylinder on the car, using a kit like the one linked by Quest. Thread in and snug up the fittings, attach the hoses, fill the reservoir with brake fluid, use the little clips in the kit to hold the hose ends below the fluid level, slowly work the brake pedal, and the air is out of the master cylinder in a minute or two (usually after just 4-5 strokes). I like to have a helper watch the reservoir to tell me when there are no more air bubbles.
I've only had occasion to do this on GM vehicles with a very common master cylinder. I don't know if there's a reason this wouldn't work well on other vehicles.