There are a number of methods that are commonly used for domain payments, each has it's own pro's and con's.
If using PayPal, it's secure and quick, however, there is a charge for receiving payment, additionally, PayPal does NOT recognize Virtual Goods, so in the event that something went wrong, it would be hard to get your money back (read their TOS for more information).
If using escrow, both the buyer and seller are protected for fraudulent activities, like paypal, a service charge has to be paid to them. these charges could be paid wholly by the buyer, the seller or split 50/50 (you'd have to determine this with the buyer/seller before the transaction takes place). The service charge depends on the type of payment used, credit card payments are charged higher, wires are the cheapest (but you might get a charge from your bank).
In my opinion, direct wire transfer to a bank account without the use of 3rd party is very risky and not worth taking the risk.