The easiest way I have found, with eggs I had stored in the refrigerator so they were cold still, is to heat the water to boiling before putting the eggs in.
That's it, then let them boil for 10 minutes, then take off the burner to sit a few (less than 5) more minutes in the pot in the hot water, before putting them in a washed egg carton, sort of turned sideways so they sit up and air dry.
I used to let them boil 3 minutes longer then put in cold water afterwards but found it did not make much difference, they were about the same easy peeling either way.
Adjust the times above based on how done you want them. I prefer them just done enough that the yolk is lighter yellow all the way to the middle.