If the issue is cable stretch, I tend to address this by:
- dialling any barrel adjusters so that the cable is as loose as possible
- undoing the cable clamp on the brake that needs adjusting
- pulling through a little more cable, whilst holding the brake mech partially on.
- tightening the clamb back
- releasing the brake mech. It'll pull up any slack as it returns to the normal rest position.
Takes about 20 seconds, and happens about a week after fitting new cables, then maybe once every thousand miles thereafter.
On the other hand, the pads get periodical adjustment when required with a torx screwdriver, if it looks like they're not sitting in the correct position relative to the pads. This happens about once every two thousand miles / three months (whatever comes sooner) or pretty much immediately if I remove the wheel for any reason.
Method varies between manufacturers / models, but for most there are two fairly large dials that'll bring the pads in / out on one, or both sides. The situation you want to avoid is where the disc is pushed laterally out of alignment before it gets clamped.