I find that the easiest way to check the transmission is to jack the car up on the side with the fill hole. Remove the plug. Pump in transmission oil till it begins to overflow. Do not replace the plug. Lower the car to level and let the oil continue to drain until it stops. The level will be just right. Then jack up the car until you can replace the plug. Lower the car and you are done.
Same for the differential, except jack up the car at the rear.
The reason for this procedure is that if you cannot get under the car to undo the plug without jacking it up, the finger method alone is going to give you an incorrect reading because the level of the tranmission oil on the fill hole side of the car (jacked up) will be well below the hole. If you fill the transmission and replace the plug at that point, you will obviously over-fill the transmission.
If you can get under the car while it is level, then the finger method will work just fine.
If you drain your transmission and you have an overdrive, it is a good idea to remove the overdrive plug as well and drain the entire unit. And, as you may know, the transmission and the overdrive are filled through the same fill hole (the one on the side of the transmission).