Tom is right, if you have time, you can shake it at serving pressure and not overcarbonate. However, if you don't want to shake it for 20 minutes, you can boost the pressure to about 30 psi, lay the keg on its side, and roll it back and forth with your feet on it while you're sitting in a chair. I do this to a 5 gallon keg for 4 minutes, 30 seconds. 3 minutes ought to do it for a 2.5--3 gallon keg. After this, I remove the CO2 from the keg, but don't vent it. Put it in the serving fridge for about 6 hours. Then, vent the CO2 and attach the CO2 tank at serving pressure.
It's usually carbonated enough to drink at this point, but always benefits from a day or so on the gas. I'd rather be under than over with this method. And I've never been over except when I left the gas hooked up in a fridge at what I thought was serving pressure and had the regulator creep up over a few days or weeks without my knowledge. That's why I always do the shake method. My problem with set it and forget it is that I forget it and bad things seem to happen.