I use the FMS. Once it says about 2000 fpm I start to descend so that the deck angle in the cabin doesn't get too steep for the pax.
If the FMS is not an option, I multiply the alt to lose by 3 and take half of the GS and then add a 0 at the end to figure out my rate.
Alt: 37,000
Cross@10,000
GS: 500 kts
Alt to lose is 27,000 x 3 = 81 nm
1/2 of GS is 250. Add a zero to the end and you get 2500 fpm.
You will have to adjust your rate of descent when your GS changes, which it will...first it will increase, then it will decrease as you get lower in the atmosphere.
BTW, this also works for glideslope reference on an ILS. Instead of chasing your ball up and down, use the VSI as a lead reference. If you are flying at a GS 140 kts, then you should have a VSI showing 700 fpm (140/2 = 70, add a 0 to the end to get 700). If your VSI showed 500 fpm, you would know to push the nose down before your ILS ball started to move down.