According to the way my saws cut and the opinions of my in-laws that bring their chains to me for sharpening, I do an awesome job of sharpening using a dremel and the correct size cylindrical stone. For me, it is super easy. USE GOOD EYE PROTECTION! Just draw the dremel/stone lightly back and forth at the right angle on each tooth with the dremel held horizontal. High RPM, not too much pressure! I use the "witness marks" when they are present, otherwise just use a consistent angle for each tooth that is the same as what the original teeth are angled. If teeth are badly worn, I may resort to a little metal filing guide I bought from Baileys.
Filemate Universal Filing Gauge (Each) | Depth Guage Maintenance Tools | Files & Filing Accessories | www.www.baileysonline.com.com
Make certain to use the correct diameter stone for your chain. Most "homeowner" saws/chains use the smaller 5/32" or 3/16" stones.
It is easiest to sharpen with the chain mounted on the saw; just rotate it by hand to get to all the teeth. Gloves are a good idea.
It is best to have the dremel on the engine side of the chain so that the stone rotation is from the top of the tooth DOWN into the gullet. This leaves a very sharp and clean grind under the top of the tooth which is where you need it. You can't help but also have a nicely clean and freshly ground gullet. Simply keep the stone pressure backwards into the gullet until you see the very top leading edge of the tooth cutter just begin to be cut. As was noted, strong light and some magnification is very helpful so you can really see exactly when that tooth leading edge gets just perfect. I like to use something like these -
Magnifier Head Strap With Lights
I use the same stone to just touch the very tops of the depth guides and lower them a thousandth or two every couple of sharpenings. The same Baileys guide is good for verifying the correct depth.
As others have noted, determine when a resharpening is needed by paying attention to your "chip". A properly functioning chain will spit out nice, satisfying, largish chips or strings if ripping. No powder, no dust. You should need no downforce on the saw other than its own weight. When you no longer are getting nice chips, STOP before you overheat the teeth and ruin their temper. Sharpen or change chains.