That's actually not too hard. I've had it down for years, but putting it to more use is where I'm at now. :)
I think you'll find the general consensus is to learn the notes on the E and A bass strings first. Then from the 2 fret octaves found in barre chords (which you're prolly already aware of) you can deduce the D and G strings respectively, eventually absorbing each note's location without "cheating".
G---------------2---3---4-----
D--2---3---4------------------
A---------------0---1---2-----ect...
E--0---1---2------------------

And since you obviously learned 2 in 1 with the low and high E, you just have the B string left.
Starting out you might also just try and concentrate on the location of all the natural notes on every string, then you can almost automatically see the sharp/flat notes. Whether you call it a sharp or flat is another topic.