What are good techniques to prepare liver?
Liver (like any offal) needs to be as fresh as possible.  Liver naturally has a dense texture, so over-cooking it results in the dry shoe leather effect that causes most people to hate it.  

Soaking it in milk is a common technique, but I grew up with venison liver cooked quickly in a pan with spice mixes (usually a slightly spicy "cajun" or lemon-pepper).

I would suggest looking up some more modern recipes to see if you can find one that appeals to your tastes.  Chefs like Hugh Fearnley-Whittingstall, who are keen on re-introducing people to these less popular cuts, tend to have recipes that will appeal to a modern palate.