I don't know if it's the best way, but I've used the Tapcon screws. I first put a 1 x 2 board up on the wall with a little construction adhesive and tapcon screws. Then I set the cabinets on top of the board, mark and drill for the screws and mount with a couple of screws on top and 1 on the bottom (depending on the size of the cabinet)
The board on the bottom makes it easy to keep them in a level line, as well as making it easier for one person to hang the cabinets.
Like I said, I don't know if its right, but I've had some on the wall for 4.5 years like that now, and they seem to work just fine.
http://www.confast.com/products/tapc...retescrew.aspx