I've always used a live trap- it will be written on the box/manual that this size trap is suitable for raccoons- it's one of the larger sizes they make. I've always just found a spot they frequent and bait it. What has worked well for me is to camoflauge the live trap with some sticks, leaves, etc so it appears more natural, then make a small trail of the bait leading into the trap, with a larger amount of bait at the back end of the trap past the trigger.

As for bait, I've used a lot of different things- corn, bacon bits, ranch-flavored sesame seeds (this one seemed to work the best out of all of them, believe it or not), peanut butter, sausage & onions. Anything that has meat in it, or is meat-flavored, you have a better chance of catching a cat instead of a coon, but the live trap won't hurt them.