We leave it on the nightstand. Usually i take it and place the TV remote control over it with the money hanging off a little bit... so its obviously out in the open and PLACED there, not just "accidentally left out"
We leave it in the mini fridge with a some requests for stuff like a extra water or diet only and usually they are pretty good about it.
There was a small triangular card left in our room last trip that had the name of our cleaner on it. We put the tip underneath that. First trip I wrote out a note in spanish saying 'thanks for cleaning my room, this tip is for you' - but I think that was a bit overboard!
We always leave ours on the bed. The little card with the name of the cleaner is a nice touch though. D
I try to hand it off to the housekeeper directly, but I do make an effort to find them also. I have been known to find them cleaning another room and ask if they cleaned room ****, then say thank you. Other wise I leave it on the corner of the bed. A tip[ from a friend of ours that did housekeeping is that if there is money left on the night stand or on a desk, it considered the owners not the tip. Money is not generally left on the bed(unless you have had a room full of strippers the night before!)
We tip everyday (usually $1) with a little note (left on the bed) in Spanish wishing them a good day or something along those lines. I usually change it up daily so it's not monotonous and they know we actually are happy that they are taking care of us so well. Oh yeah, we also ask for dos botellas de agua un dia y no refresco (2 bottles of water and no pop, we don't ever bother drinking the pop).