What's the best method for house training puppies?

I have two Beagle puppies, and if you know anything about Beagles you know they are STUBBORN! I am totally against crate training; it has never worked for me in the past, instead my dogs wouldn't act like normal dogs, like they weren't affectionate or anything. So please, if you have any good tips that worked when training your own dog, let me know.

Also they are currently paper trained but i am tired of having to clean up after them and the smells!

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