I use old-fashioned timers with the rotating dials. Any brand is probably fine, but I bought outdoor rated ones that have an enclosure to protect against moisture. Make sure you get heavy duty ones rated for 15A if you're going to control your lights with them.
I tried digital timers first, but found that they are more epensive up front, and prone to failure (3 out of 3 digital intermatic timers I was using died in the first 6 months).