Rick uses gunwale fenders that he gets at West Marine. They are shaped so they curve to fit the hull, and they have straps that go over the top of the hull.

A lot of people these days are using swim "noodles," those long cylindrical foam things that kids use in swimming pools. They put a line through it lengthwise to tie it around the hull. They seem to use them in pairs to provide more foam under the hull at the resting points. The really BIG noodles work best, but the normal ones are fine, too.