Actually the method you listed is the way it is done. They are simply siliconed/glued on. It is likely that the installer didn't do a good job prepping the surfaces. There are plenty of tutorials online and on you tube. Use PL400 for the glue, run a 2x4 over the countertop and clamp up through the drain holes to the 2x4 to clamp it up tight to the counter top while it sets.
http://www.granitecitytool.com/sites...tool%20ex2.jpg
If you like you can glue additional blocks of wood to the underside for additional support in holding the sink up to the underside of the counter.