and don't be too afraid to get solder on your iron tip. you always want to have SOME on there, it transfers the heat a lot better to the joint. even having a VERY slight droplet on there isn't too bad, as long as you don't have so much it's dripping off. When you get right down to it, the whole reason they say not to have a lot of solder on your iron is so that the solder that's going intot he joint is the fresh stuff you're feeding into the joint, which has flux in it which helps clean the joint and make better contact, rather than the solder that's on your iron tip, which has had all the flux evaporated away and so will form poor solder joints. so as long as MOST of the solder going into each solder joint is coming from the spool, not from your iron tip, then you will be fine. Use enough solder on the tip to make the heat transfer fast enough so you don't burn pads off the board, etc. With a reasonably good iron, you should not have to leave the iron on the pad for very long at all. At work here we use the nice weller soldering stations, and you can usually get perfectly good solder joints in under 2 seconds. Given a radio shack iron, it will take slightly longer, but I would say that if it's taking more than like 5 seconds to make a solder joint (at least when you're doing small component leads, such as resistors, etc... larger leads like voltage regulators, etc. will of course take longer) then you would want to change your method.
Oh, and usually when you have black crud on your iron tip, rather than cleaning it off by scouring it with sandpaper or scotch-brite, you can typically scrape it off with a knife. usually it is a very brittle substance, so it crumbles and cracks away pretty easily when you scrape it off.