Find a place to work, like a garage or high-ceiling basement with the floor covered with plastic to keep any dust down. Assemble the tools and other things you'll need.
Remove the hinge pins and take down the door.
Using a screwdriver, take the hinges and doorknobs off.
Lay the door flat on the sawhorses. Use wood filler to fill any gouges. Allow it to dry, then sand both sides of the door.
Follow the same process with any other doors you need to paint.
Stand a door upright on the 2 x 4's that are lying on the floor. Then stand a second door upright to form a V shape (but open a little at the narrow end). The 2 x 4's will raise the doors off the floor, so you can paint right to the edge.
Nailing down through the wooden strips, fasten the two doors together. The wooden strips will stabilize the upright doors so you can work on them without having to worry about them falling over. If you have more doors you need to paint, you can just make the V into a W.
Paint (cut in) around the door edges, sides and doorknob openings and then, starting at the top, paint each door. Since you have access to both sides of the door, you can paint the entire door and don't have to wait for one side to dry to before you can turn it over and paint the other side.
Wait for the first coat to dry. Give the doors a light sanding and apply the second coat. If you're working with latex paint, which dries in a couple of hours, you could several doors in a single day.
Wait for the paint to dry thoroughly, then reattach the hinges and knobs. Finally, rehang the door.