I wouldn't call mine "good" contact prints because they were done just to document what was on the negatives. I make contact sheets for all my negatives so I can look through them more easily than looking through the negatives.
I don't know how familiar you are with using a darkroom? I have a darkroom with two enlargers and I use the smaller (a Beseler 23CIII) to do contact prints. I have a marked position on the enlarger for height so all are done the same. I also have settings that work for me to get the paper to be black around the negs. I use the same settings all the time so I can tell how the negs are for when I enlarge them. I usually use Ilford RC pearl paper, Ilford multigrade developer at 1:9 for 1 minute, stop bath for 30ish seconds and Ilford rapid fixer at 1:4 for a minute. They then get to sit in a water bath until I finish all the contacts I need to do, then I wash all of them in running water for about 15 minutes, then they go on screens to dry. This is all pretty standard for printing, it just gets a little more complicated with enlarging.
It should be possible to make a contact print with a bare bulb ( a la Weston), but I've never done it because I have enlargers.