I've used the advice found here, but have had trouble with some of the specs given when it gets darker. My advice, just play around with different settings. http://mansurovs.com/how-to-photograph-moon
I used my tripod (a must) on aperture setting and lowered it as low as the lens would allow. I used my zoom lens of course, and I have to say it came out pretty good. In May when we had the "super moon" it was a beautiful shot and you could actually see the craters in the moon. But, like jwbobcat11 said, I just played around with different settings. Aperture turned out to be my favorite.
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http://mansurovs.com/how-to-photograph-moon