Note the link below is not completely updated to for Android 4.3/4.4 but the method described and techniques used are still the same as they always have been with the Nexus line.
My preference has always been to learn how to do it manually which is the first link I provided. This gives you the basics and such to troubleshoot and handle things yourself instead of depending on a toolkit. Trust me the day will come when you wish you knew how to do things manually