Another vote here for Starbucks Via ... definitely the best and most compact way to have a good cup of coffee when camping, although not the cheapest.

As far as other ways to make coffee, I've tried a lot of different ways and my preference before Starbucks Via came along is the very simple solution from Coghlan's: one-cup coffee filters. It allows you to make good coffee with minimal hassles and cost.

Basically for a few dollars you get 40 single cup filters and a plastic stick that the filters slide on to like this:



Coffee quality aside, the problem with every other brewing method is that clean-up is a pain; with the Coghlan's solution at least you only have to deal with the waste. Obviously this is still a better solution for car camping than it would be for backpacking where you're packing out all your garbage.