I use SS canteens so I can boil all of my water in them. Then I take a bandana and place it over the opening and push it down a couple inches so that it is sitting in the water but the edges of the bandana that are still hanging over will keep it from falling in. Then I just scoop some coffee into the bandana and let it steep for however long.

Works great for me, and not as gritty as the cowboy coffee.