Actually proceeding direct to the airport using the gps is the most common way to fly VFR in USA, as far as I have seen.
Depending on your cruise altitude you may need to request transition clearance to the TWR or state your intention on the CTAF, if your route takes you overhead a field.
I suggest you to request flight following anytime you can, that way you will be on the approach\control frequency and have a better awareness of traffics, and often get vectors.