The professional way: MTF station such as made by Optikos. It costs about as much as a nice home. We just got a new setup at work and it is sweet. It allows me to see how my assembled designs compare directly to predicted performance.
The poor man's way:
Pay someone else to measure it.
If you want to measure the MTF of an imaging *system* (including lens, film or digital imager, scanner), use a slant-edge technique described in ISO 13322 and as implemented in software such as Imatest.
MTF is not easy to measure, which is why most photographers hadn't heard much of it up until a decade or so ago. Now MTF is reported by camera reviewers primarily due to Norman Koren's development of Imatest software.
Edit: that Schneider PDF is good for theory except that the illustration of spatial frequencies is incorrectly showing a square-wave pattern (black and white bar pattern). A square wave consists of many frequencies, and in optics gives you CTF (contrast transfer function).
MTF is based upon repeating sinusoidal patterns, which is created from a single spatial frequency (Google terms that are unfamiliar)