Personally, I tip with paper rather than figuring it down to the penny because I just don't care to take the time or carry the change. If $3 will be under 20%, I will happily add another dollar and be done with it no matter what the resulting tip percentage is. As long as I'm at or above 20% (and yes, I tip on the tax, too, just cause it's faster and a matter of pennies).
For those that are truly paying attention to this sort of thing, the easiest method is to take the sales tax on your bill, multiply by 3, and tada... Obviously, adjust the multiplier up or down based on the sales tax in your area, the level of service, etc...
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