Sensational Socks has instructions for every sock in three formats: 4 DPN, 5 DPN, and 2 circs. Toe up or cuff down, your choice.
I did my first socks toe up on two circs, both socks at the same time (except for the afterthought heels, which I did one at a time). I found it pretty easy.
Doing my second pair toe up on 5 DPNs with a short-row heel. I found that two circs was fine for DK weight and size 3 needles, but with fingering and size 1's I had laddering problems. The DPNs just worked out better in this case.