a bunch of stuff has to be in proper condition for them to start well.. jetting, auto-decomp, ignition timing, idle adjustment... but assuming all that is good, here is what works for me (and many others):
1. pull in manual decomp lever, open throttle wide open, kick it quickly several times to pull some fuel in (sometimes 8-10 kicks)
2. release manual decomp lever, kick slowly to find top dead center (the point where it gets very difficult to turn the engine)
3. pull the manual decomp lever, move kickstart just slightly to get past top dead center
4. release manual decomp lever, give it a solid and full kick to start the engine