If you just boil or roast beets long enough, it becomes very easy to remove the skin. I prefer boiling because it's cleaner, faster and simpler.
What you will need
1 bunch of beets
How to cook
Take off the greens. If they're in good condition, you should definitely sautee them with some onion and olive oil. They taste a lot like chard.
Chose a pot that is deep enough to contain your beets. Fill it with water and place over medium heat.
Place the beets in the water. They should be fully submerged.
Keep the water at a simmer. It doesn't need to boil. Cook for about 20 minutes, depending on the size of your beets.
You know they are done cooking when you can easily pierce straight through to the center of your largest beet with a knife or a skewer.
Remove from heat, then transfer the beets into a bowl of ice water. This just tends to make them easier to peel.
If the beets are cooked properly, the skin should easily rub right off. They're ready to eat. You can use them in any recipe calling for cooked beets. Usually I just slice them up and toss with some combination of salt pepper, vinegar and olive oil.