Best way, yes. Most frustrating way, though, because it takes much longer to find an addon that may have what you're trying to do than look at some docs and say "I THINK this is what I want, lemme try." when all you really want to be doing is coding.
On thing I noticed, when the docs were less than thorough, was to go looking for myself. The other posters were correct, insofar as looking at other addons. What I also noticed is that if you look at the .lua files for the Ace3 libs in a text editor, there often is comments about how to use them right in the code.
It doesn't answer everything, but any little bit helps.