Using Allegorithmic Substance Painter has been awesome for me… for textures I also use Allegorithmic Bitmap2Material.
I’m sure there are a gazillion other ways to do it, even for free but I seriously doubt you can beat the speed/quality ratio of the “allegorithmic way” 
but then again I’m not a professional texturer (is that even a word? :p) or anything like that so don’t necessarily take my word for it.