As promised, here is how I prune and support my tomatoes. My pruning technique is informed by Small-Plot, High-Yield Gardening and the support system is based on a reader's tip in Fine Gardening magazine.
Pruning tomatoes is physically easy, but psychologically challenging. I have to keep telling myself it is worth it: I'm not creating less harvest - I am creating bigger tomatoes. Here's how: At the base of each leaf a new set of leaves will grow, and if left unchecked will become another vine, pinch these out to create a strong main stem. You can get rid of all the suckers and just have one vine, or you can allow one or two more branches further up the plant to grow. I'm a big fan of three vines total, if you have the room. I let my cherry tomatoes go a little more wild, pinching every once in a while, just to keep them a reasonable size.
To create the frame in my raised bed I used 8 (3/4" x 6') redwood stakes (bamboo would also work great). I simply sunk the stakes nice and deep at an angle and lashed them together, then I tied two stakes across the top.
With the frame built the next step is tying up the tomato vines:
1. Cut a long length of twine (it needs to go up and over the frame plus a little extra).
2. Tie a slip knot towards the base of the plant and gently twist it around the vine.
3. Hook the twine over the frame, wrap the extra around a rock, and voila!
As the plant grows you just keep twisting the twine around it. For each branch you allow to grow just repeat the steps.
Happy Gardening!