I built a highly ghettoized version of Darrell's method, and it works
good. The main point is to keep the angle of the tool the same
throughout the whole process. It's difficult to get a consistant bevel
by hand sharpening, so unless you want to butcher a set of tools by
practicing, a jig like others have already mentioned can be an
inexpensive investement that will save time overall.

On the other hand, I've seen people hand grind with no problem, but
they've been doing it for years that way.