The 5 S's work amazingly well!
The Theory: Dr. Harvey Karp explains why these work and outlines each of the 5 S's. (You can skip over the ads.)
The Technique: Watch a mother showing some of the mechanics.
Doubts? Watch Dad Calms Crying Baby actually using the technique to calm a really crying baby. He leaves out the fifth S, which is "sucking" on a pacifier, but still gets great results.