It was very efficient before, but Ganymede's gravity has been reduced, so it's not as easy now. But you can still use it.
First, to get captured, the safest way is to aim for Jupiter's periapsis:
Then burn retrograde at the periapsis. Just enough to be captured:
Stop once you're on an elliptical orbit. This burn is very cheap, so you don't have to worry about it.
Then time-warp until you reach the apoapsis:
And burn prograde until your periapsis is slightly below Ganymede's orbit:
This maneuver is a bi-elliptic transfer. It's very efficient. In my case it only costed something like 60 m/s.
Now time-warp until you reach the periapsis, and try getting an encounter with Ganymede by burning slightly prograde or retrograde. This is a pain because of how the navigation system is buggy, but you can normally get an encounter for not much:
If possible, try to get the encounter on the ascending node, this will be more efficient. Make sure you also perform a retrograde fly-by. We are going to perform a gravity assist.
Then time-warp, and after your gravity assist, your trajectoy should be something like this:
Now adjust your apoapsis so that it's around 380000 km, and you should be able to get a new encounter by tweaking your orbit:
That new gravity assist allows you to reduce even further your orbit:
After that, it all depends on where you want to go. If your destination is Ganymede, you can directly insert yourself in orbit. If you aim for another moon, then you may try to chain other gravity assists, or time-warp to the apoasis and adjust your trajectory from there:
This is if my destination is Io for example.