The KECK2/BICEP radio telescope project here, at Harvard, needed to do just that, and hired the American Repertory Theater crew to do the packing.
You can tell immediately that ART have been doing this, have passed down their best practices, and have been paying attention to how to do it right, for many years. You can also immediately tell that their team features clear communication and well-thought-out designs, by how easy it is to assemble their crates, and by the confirmatory labels that make mating parts match to each other.
The job they did was SO amazing, that I had to document their techniques.
Step 1: Packing Theory
The secrets are to have 1) a structurally sound box -- one that isn't going to crush or crumple, and that is well-supported and braced on the inside and 2) make sure the item you are packing is surrounded -- tightly packed -- with material, or generally otherwise constrained -- so that if the box is impacted, the object experiences little of the force. Packed, literally.
The ART crew did all of this with very high quality materials (e.g. no two-by-fours -- all milled lumber), the right types of materials (angle brackets when necessary, stiff foam when necessary), a clear minimum of excess packing material, very exact measurement and fitting tolerances, and a generally all-around incredibly high level of expertise.