 One can read a book on Torah, listen to a tape, attend a class or learn with a partner (even over the phone), preferably at a set time everyday.
 "You shall teach them thoroughly to
your children and you shall speak of them while you sit in
your home, while you walk on the way, when you retire and
when you arise." - Deuteronomy 6:7
"This Book of the Torah shall not depart from
your mouth; rather you should contemplate it day and night
in order that you observe to do according to all that is
written in it; for then you will make your way successful, and
then you will act wisely." Joshua 1:8
 
Our Sages tell us that "the study of Torah is equivalent to" all
the great mitzvos like honoring one's parents, kindness,
hospitality, visiting the sick, etc. Part of the commandment is
to teach one's children Torah. Traditionally the first thing to
teach is that "the Torah that Moses commanded us is the
heritage of the Congregation of Jacob." (Deut. 33:4) Besides
the straight-forward meaning, we were told by our Sages
that the word "heritage", "morasha", when read with
different vowels can be understood as m'orasa, which means
"betrothed", meaning that the Jewish people and the Torah
are considered like bride and groom.
 The Mishneh in Peah 1:1 states that there is no prescribed
measure for Torah study, howver a premium is placed on
the precept that one must establish a set time for learning
each day and that this should be both during the day and
at night as well.
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Anytime
Talmud Torah/