I know that a rice cooker is the easiest way to make sticky rice, because of the way it is steamed. However, I don't have a rice cooker: what is the most effective way to make sticky rice using regular pots and pans?

I know that a rice cooker is the easiest way to make sticky rice, because of the way it is steamed. However, I don't have a rice cooker: what is the most effective way to make sticky rice using regular kitchen tools and appliances, i.e. ones which most people would have? (I am not against getting a rice cooker: I just don't want to invest in an appliance which I would probably not use that frequently. So I'm interested in learning how to make sticky rice with your average kitchen tools and appliances.)