While I certainly haven't mastered landings (far from it) I do think I have found a repetitive way of accomplishing an "ok" landing that doesn't break anything or result in safety reports: keep looking at the aiming markings all the way down to 50 ft height while resisting the temptation to flare early. Then when the auto callout of "30" is heard, pull on the yoke ever so gently just enought to raise the nose by 2 or 3 degrees, then hold it there and simultaneously close the thrust levers. A touch down within the touch down zone will happen. A lot of the times the landing will be firm, but it will do.
Having said that, I wish I could spend a day in the sim just practicing landings in all different conditions (weight, CG, config, weather, day/night, airport etc.) until I can consistently land it "well" and not just "ok".