We use this thingy
dockingstick.com - Home
It really does work well. Our dock is VERY low and big jumps were getting a bit hairy. So I added a cleat, painted it yellow (to make it obvious) and the admiral simply lassos the yellow cleat with dockstick with a line pre-sized to stop the boat before it could hit the dock. We used to lasso without the dockstick but the loop was pretty small. Dockstick just makes it much easier.