This is what I was taught by the Harley-Davidson/Northwestern University instructors for Motor Officer training:

Cold
Park bike in 1st gear, always. When cold, pull in clutch lever, put in neutral, foot on rear brake and start bike. Let bike run until the rocker cover becomes warm to the touch. Then ride.

Hot
Pull in clutch lever, foot on rear brake, start bike and ride.

Cold starting in gear, no matter the clutch adjustment, will cause it to lurch and is generally unsafe depending on the surface as you could fall. Hot starting in gear is no problem, as long as you remember to always pull the clutch lever in when you start. It is habit to me now and I cannot do otherwise.