I straighten them in a bench center, you could do it with a lathe between centers as well.
I use an impact gun with a copper tipped hamer that I made a few years ago.
Just chuck it between centers and look for the high spot on the bearing races with an indicator and give it a pop or two with the gun, don't get carried away and wail on it with the impact gun one or two pops at a time and then re-indicate; make sure your centers stay tight as well.
Once you have worked all the way down the shaft repeat the process all over and keep repeating it until all the bearing journals check where you want them.
DO NOT use the impact gun with the indicators plunger resting on the journal.
Drag out an old used up cam and play with it first, but don't try and compare the force needed from cam too cam, it varies a bunch.
All that having been said this is how I do it and may not be the preferred method but it has worked for me many times.