I do several methods but will usually start off by cutting off the ripe/brown seed pods and placing the stems upside down in a brown paper bag. To loosen the seeds from the pods, I'll then try closing the paper bag and shaking. That usually doesn't do a good enough job and I will end up rubbing the seed pods between my palms, over the bag. That gets many of them loose. But then I'm usually still not satisfied and will take the stems, one at a time and pry the stubborn seeds from the pods.
Look forward to hearing some easier ways to get the job done!
