It depends on how much liquid (by eying it up) and what accuracy you want in your reading.
In a lab, if you are dealing with between 1 and 10ml, you can use a graduated pipette (this is more accurate than a graduated cylinder).
If smaller than 1ml, you could use a micropipette or a microsyringe (micropipette better).
If larger than 10ml, you may be able to find a graduated pipette that goes above 10ml but they are uncommon in standard labs.
In this case, you would use a graduated cylinder (beaker graduations are very misleading and are error prone)
If you have a graduated cylinder, beaker, measuring cup, etc. feel free to use that. Sometimes when using a graduated cylinder or beaker the liquid will have a dip. It might look kind of like a trampoline that's being stepped on (although it can also be upside down). This is called a meniscus. If there is a meniscus, always take the measurement of the tip of the curve.
If you don't have one of those tools you can take the measurement of the volume like length*width*height (depending on the shape of the container). If you can get this volume in cubic centimeters, one cubic centimeter is equal to a millimeter.
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In chemical laboratories frequently are used pipettes, syringes and burettes.
Some delivering systems are very sensible, down to 1 microlitre.
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