I wouldn't count ascenders as common climbing gear, so I'm answering for gear that almost every climber has available: An ATC Guide (or Reverso, or similar device with a guide mode) and some cord or webbing.
You fix the ATC guide to your harness in guide mode, so that you can easily pull in the rope, but it blocks when you load it (i.e. sit in your harness hands-free). Then, you add a long loop of cord or webbing above the device with a friction knot such as a klemheist (probably preferred to a prusik since this knot is easier to slide up).
You then repeat two steps until you reach your destination:
- In one motion, you pull yourself up on the rope above the friction knot with one hand, push yourself up with your foot in the loop and pull the slack through the device with the other hand.
- Sit in your harness (possible because the device auto-blocks) and slide the friction knot upwards. Repeat until you reach the top of the rope.
The important trick is to do the first step in one single motion. Otherwise, you'll waste quite a bit of energy trying to pull the rope through the device while standing still in the loop of cord.
In the following image, I drew the setup and marked where to push/pull/slide in which step:
If you have a situation where the rope is not fixed on top of the climb and two strands go down, you obviously have to feed both strands through the device and the prusik. Conversely, if the rope is fixed , you could also use a GriGri instead of the ATC Guide.
As usual, a prusik backup below the device is recommended.
An additional note from recent experience: Don't do this with thick(ish) ropes. While it works really well with newer single ropes (9.x mm) or half ropes, older/thicker/"plushy" single single ropes make this technique really hard or impossible. With these ropes, you would have to actively push the rope into the device while holding the latter. But this makes it impossible to pull yourself up on the rope while simultaneously pulling the rope through the device with the other hand.