If you've ever purchased canned whole beets, then you have an idea what boiled beets taste like. Although they're very easy to make, the time they take to cook will fluctuate depending on how your prep them, as you'll see below.
No need to peel the beets first. Cut the stems to within 1/2". Cut off the tail.
Submerge whole beets in boiling water. Adjust the heat as needed to keep the water at a simmer as they cook, covered. They will take anywhere from 1/2 hour to 2 hours, depending on their size.
Or cut the beets in quarters first to drastically cut down on the cooking time.
Beets are done when they're tender and the skins slip off easily. Don't worry -- it's really hard to overcook beets.
Drain and let cool. Then simply slip the skins and root off with your fingers.
Beets can be chopped, sliced or diced at this point.