I admit I do the same, except I usually have a light brass hammer in place of the wrench. The only time I ever applied a torque wrench was to a Choate stock screw that had a higher-than-average torque rating employing hardened stock screws.
A touch of blue Loctite also helps compensate for torque underestimates made by feel. But I figured he wanted a literal answer.
Incidentally, with a countersunk screw hole, the rapping technique tends to produce centering as well as good contact. Between the two, the Loctite is often unnecessary. I use it anyway because it partly serves as a screw lubricant while it is still wet. A friend of mine who once worked in stress analysis for the military told me the Army had carefully studied whether or not vehicle wheel lug nuts with oil on them were actually more likely to come off, as common wisdom suggests, spontaneously? It turns out that if the oil is on them at the time they are tightened, it is actually less likely they will fall off. The lubrication enables them to be tightened more completely by a given torque.