I used to just make raised beds with soil carted in from other properties, but now I use a low-tech method of sifting out the rocks. What remains is still a bit sandy, but at least I can dig with a trowel.
Step 1: Materials
* Milk crate
* Rocky soil
Step 2: Start Shaking
2) Pick up the crate, and stand up straight.
3) Start shaking until all the small stuff has fallen out.
4) Empty the rocks elsewhere and repeat.