If I'm only moving a few head in a small pasture, I work them on foot with my dog at heel, only sending him out if any of them need a bit of extra persuasion. The dog comes back and works at heel or just in front of me and we quietly walk them the direction we want them to go.
In a large pasture, we'll saddle up the horses. After all, each of those horses has 4 legs to my two. Or, if the horses just need a bit of time working cows, we'll take them out to the pasture and walk the cows around a bit. Horses are my personal preference when it comes to working cattle. We have them here and feed them regardless, so we might as well use them and their training.
On days when my husband's arthritis is acting up, I'll put him on the 4 wheeler while I work from another part of the pasture on foot with my dog. I still am not comfortable working bulls with an atv without the dog as a backup. I know a couple of rancher friends whose atvs have been on the receiving end of some range cow or bull's anger a time or two.
A friend was on our 4 wheeler a few weeks ago and somehow managed to get herself just a bit too close to the bull and had him feeling kind of cornered. Even though he's easy to work, he's still a bull and I could just see a problem developing. I had her put the atv in reverse and move slowly backwards. When she was far enough back, I set the dog on the bull who by that time was feeling pretty full of himself, and a lesson was taught. The bull once again had a solid reminder to respect humans and dogs, and the dog was very, very happy.
The other day two bulls at home pushed a feeder panel loose and went visiting the neighbor's. Fortunately, our cattle are generally easy to work, so we grabbed a couple of sorting sticks and worked them on foot back through a gate. If I had used the dog, the 2 year old bull would have been over or through the neighbor's back fence and happily (for the bull) with the cows a couple of pastures over that had just come down from the mountain and were bawling their heads off.