This is the only way I do it as well and the best looking lights I have found (warmest color, matches well with Incandescent bulbs etc...) are the Kichler series Xenon, I've installed tons and never had a complaint. Sure they run warm but what feels hot to your touch really is not as hot as you think it is in regards to lighting.
I typically put the whips 56" off the floor and try to get them poked out in the center of each upper cabinet they will go under.
Here is the one I most commonly use, just be careful the mounting screws that come with them are sometimes a tad long for the thickness of the bottom of a cabinet, nothing a small washer or two doesn't take care of though.