Not to be a broken record, but the best thing you can do to save for your child's education is to save for your own retirement. There are loans for college, but not for retirement (and between age discrimination, changing skill needs in the economy, and disability, many people find they are forced to retire earlier than they wished/planned). There are loans for college, but there are no loans for retirement.
Assuming that you are actually successful at saving *enough* for both your own retirement and your child's education, there are various ways you can redirect excess retirement funds pay for college. As others have said, you can withdraw the initial contributions from your Roth IRAs without penalty to pay for college. If you do any rollover Roth IRAs from an employer sponsored 401(k) plan, those initial contributions can also be withdrawn without penalty to pay for college (so long as you do the rollover at least 5 years before the withdrawal). You can also take out student loans (either in your own or your child's name, and probably at a pretty favorable interest rate) and pay those off using any retirement funds once you reach an age where you may draw freely on those funds (59 1/2, I think, but there are some OK options for withdrawing in your 50s too).
If you are not successful at saving enough for both college and retirement, your children can take out their own student loans. Yes, it kind of sucks to have to pay back SLs, but it beats supporting your parents in their retirement, and it helps build credit scores.
If, after maxing out your retirement, you can afford to refinance your house to a 15 year mortgage, consider doing that. Yes, I know lots of people say you should pay off your house as slowly as possible with rates so low, but personally, I don't think it's smart to put all your eggs in one basket (even a diversified stock and mutual fund portfolio is pretty risky by itself), and a shorter mortgage term will lower your annual interest rate as well as your total interest paid. If the mortgage is paid off before the kid(s) start college, you'll have a lot more cash in your monthly budget to go toward college expenses. Having a lot of equity in your home also gives you some alternate options for paying for college. In 2001, a lot of students in my class spent 2 years worth of college savings on just their sophomore year's tuition because the stock market was doing so badly. My parents took out a HELOC at 4% and paid it off with the stocks they'd purchased with my education in mind AFTER the stock market recovered (they were also able to do this because they'd just purchased stocks and mutual funds in their own names and not part of a specific college plan, and because they had a lot of equity)... of course there is a risk there, but the more equity you have in your house to begin with, the less risk is involved. Also, moving to a smaller home when the kids move out isn't such a bad idea, if you can handle it emotionally. If you own the home you raised your children in outright at that point, you could split your equity between buying a smaller home in cash, and college expenses.
Only after these things would I look into an ESA or 529 account.