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#1) Ask family, friends and associates for the favor links on their personal sites. If cousin Kim has a PR6 home page, then try to convince her to link to you. The double benefit with these sorts of links is that likely you can convince them to link to you with the exact, keyword laden anchor text you want, as in "Red, Blue and Green Widget Sales". Anchor text in links is a big plus for Google.
#2) Put up an amateur site of decent quality on some hobby topic that both you are interested in, and also a lot of other people. Webmaster's of these sites are often quite willing to exchange links with other sites. This sort of extensive crosslinking is how decent PR is built up. If your site really is any good, you should be able to get a PR6 easily. You can then link from this amateur site's home page to your commercial site with keyword rich anchor text.
Obviously the above may not be enough if the keywords you target are extremely competitive. However, for most SERPs if you have a PR6, that combined with good on page optimization is enough to do adequately.
If cousin Kim has a PR6 home page
Damn cousin Kim lost 2 PR what happened? ;)
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leo