First and foremost the outside/pod is NOT edible!
The best way is to steam them (if they are in the pods) and once steamed transfer to a bowl and liberally sprinkle with kosher salt (not table salt).
You can put your teeth around them and sort of coax them out or you can bend the pod, place your mouth right where the bean is, and they will pop out. As you are eating them out of the pod you get a little of the kosher salt - YUM!!!!
You can also just microwave them - they still come out good!
They are addictive - that's for sure! You just gave me part of my dinner tonight!