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Most of the time I avoid Class B if I am VFR but there really isn't any need to. As long as they aren't too busy, ATC is happy to deal with VFR traffic. Just give them a call far enough out so that if there is a problem you can deviate around the Class B without too much trouble.
Usually there are established VFR transition routes over the main airport, but they may require that you change from your crusing altitude to go through them. VFR Flight Following is another good way to go and they will deal with the Class B problems for you.
Alos, some Class B's are more intrusive than others. At first glance it may look like it takes up the entire available airspace, but usually there are ways to navigate around it. The Class B in Los Angeles used to be (and I suspect still is) very friendly to GA aircraft because of the high level of involvement GA had in setting it up originally. The one in Seattle is more of a problem because of the proximity of the mountains, but still there are some good ways to get around it, you just have to look for them. Spend some time with the charts looking for the best route when you plan your course.
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