I put my filled kegs into my lagering freezer which is set at about 34 degrees. With 10 PSI, I usually get the right about of carbonation in about a week (usually 2.5 volumes for most beers), based upon the carbonation charts found in many of the brewing books. If I want to drink the beer sooner, I set it for 15 - 20 PSI for about three to four days and all is well.
I never "crank and shake" the beer. I did that when I first started kegging but found that the beer tasted better if I just let it sit.