At small scale, there just isn't a fantastic way. It is work.
You can reduce the work by
1. Harvesting after a rain (or irrigation for a few days) so that the pressure on the berries from the plant tissue structures is strong.
2. Harvesting in the morning very soon after the sun dries the dew off the plant.
This creates the plumpest berries, which then more easily separate from the stems.
From here, it really depends on quantity, intended use, etc.
You can use an appropriate sized comb to comb the berries off - freeze the berries and then comb, or dehydrate, then remove from stems, even using older approaches married to a modern box fan to separate the berries from the stem material.