Practical Measurement of Torque

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The simplest way would be with a simple torque wrench. They can be had for a few pounds at most automotive tool retail outlets.

A length of material with weights hung on it works just fine.
You need a rule and scales too, plus pencil and paper (or calculator). Ive measure motor stall toque of small Dc motors this way, a 1m bar connected to the shaft at it's centre (to maintain balance) add weights at one end until the motor won't turn when power is applied.

Simple is good.
Del

You can get a rough idea with one of these ...

... and a spring balance. Be sure to fit the pipe wrench vertically so that it's weight doesn't muck up your result.

Not very good in the mNm ranges .

1. As PWS said Torque Wrench

2. Input Power * efficiency/ RPM(converted to ω) will give you approximate value, assuming you are on a rotating shaft.

3. The other method is what is called the dynamic brake method where the torque is measured in terms of the force to stop. (A bit difficult to calculate because of the friction factor, as is the other method the pulley tension method)