What's the best way to find a dead cylinder?

On cold start, the engine goes to high idle like it should, but has a misfire sound from the exhaust pipe. The engine also shakes a bit. When kicked down to curb idle, it idles rough and the engine shakes as if it isn't hitting on all six. When stopped at a red light in gear, the idle is very slow and rough. Idle speed in neutral is set to 750 RPM.
If you open it up on the highway, does it seem to run ok, check for a VAC leak.