Hand picking works well, once you learn to spot them. For being so big, they are well camouflaged. Watch for their poops, the worm will be above them.
In the longer term, there is a parasitic mini-wasp (braconid wasp) that parasitizes them. The wasp is tiny and stingless; you will probably never see it. But if you ever see a hornworm looking like this:
Leave it alone. The white things are cocoons, from which the adult wasps will emerge to continue the life cycle (laying eggs inside the hornworm body). The hornworm at that point is dying.
So you want to have flowers in your garden to attract the braconids. The adults are nectar eaters and like flowers that have nectar in tiny florets. That includes all the carrot family stuff (carrots, parsley, dill, fennel, etc), and yarrow, cosmos, sweet alyssum, marigolds, tansy, pennyroyal, lemon balm, thyme, zinnias, and others.
Before I moved, I had a well established garden with lots of these flowers and I almost never saw a hornworm that wasn't parasitized.
Dig around your tomato plants in late spring, early summer. You might find one of these buried an inch or two deep:
It is the pupa of the hornworm. Left alone a large adult moth will emerge from it and lay the eggs that become the hornworms.
If you find one, destroy it (unless you like the moth which is rather beautiful)