I prefer a combination of Ti Shephard hook stakes and MSR groundhog style stakes. Ti stakes go in to just about any ground but hold terribly in many soil types. The groundhogs are the opposite (tough to put in many soil types but hold great).

I rarely pound stakes into the ground, but the Ti stakes are clearly able to handle that type of beating better than most any other stake. Ti stakes are much stiffer than Al or steel stakes. I usually first try to drive in the stake with my hand. If I can't get it all the way in, I stand up and put the ball of my foot on the stake with my heal on the ground and slowly drive the stake into the ground using more body weight as necessary. Many people mangle stakes using my method (and I've mangled a few), but I've had good luck if I go slowly and control the force I apply to the axis of the stake. YMMV.