There is no fixed way. Different ways work for different people.
I never learned them very well. I just learned to work them out really quickly.
2s are easy. 5s are easy, 10s are really simple.
9s up to are simple - you use your fingers. do you know that trick?
4s are double 2s
8s are double fours.
3s are a bit tricky but 6s are just double 3s
12s are double 6s
11s are easy.
so the only REALLY yucky one is 7s
That doesn't matter too much because 7*2 is also a 2*7 7*5 is just 5*7
mmm
So if you find it super difficult to remember them all, just get really good at doubling things and then you can work most of them out really easily. 