You may be capable and sincere, but there are some things you need to know.

1. A nonprofit is not a get-rich-quick scheme. It requires an enormous amount of time and work to get if off the ground, and able to sustain itself.

2. There are THOUSANDS of regulations. Yes, really.

3. The nonprofit CORPORATION is tax exempt. Employees still pay taxes under the same rules as everyone else.

4. It is a waste of everyone’s time and money if you plan to reinvent the wheel. There are most likely hundreds of other nonprofits already out there doing the same work that you plan to do. You should find a few and volunteer. You have a lot to learn.
http://www.volunteer.gov

5. People are not going to hand you buckets of money just because you have a "charity".

Like I said, you may be the exception, but I see so many pie-in-the-sky dimwits here.

But if you insist.

There is no "best way".
There is only one way.

First, you have to incorporate in your home state.
That takes weeks and $hundreds$.

Then you apply to the IRS for tax exempt status.
That’s several more weeks.

THEN you begin fundraisiing.
That’s months.

Meanwhile, you establish your by-laws, board of directors, staff, and internal policies.
You will need an office, accounting system, bank accounts, and insurance.

THEN you begin your work.

Then you continue fundraising.

Then more fundraising.

Then even more fundraising.

Then you do some more work.

Then you apply to foundations for money.
The foundations will come to your office and tell you you’re doing it all wrong.

Then you file reports with the government.

Then you do some fundraising.

Then more work.

go to http://www.irs.gov.
Click "charities and nonprofits"

go to http://www.usa.gov
click "for businesses and nonprofits"

go to http://www.foundationcenter.org
lots of info there.

Good luck.
References :
26 years as volunteer, staff, manager, board member, and consultant to nonprofit corporations.