The accelerating expansion of the universe is the most surprising cosmological discovery in many decades, implying that the universe is dominated by some form of "dark energy" with exotic physical properties, or that Einstein's theory of gravity breaks down on cosmological scales. The profound implications of cosmic acceleration have inspired ambitious efforts to understand its origin, with experiments that aim to measure the history of expansion and growth of structure with percent-level precision or higher. We review in detail the four most well established methods for making such measurements: Type Ia supernovae, baryon acoustic oscillations (BAO), weak gravitational lensing, and the abundance of galaxy clusters. We pay particular attention to the systematic uncertainties in these techniques and to strategies for controlling them at the level needed to exploit "Stage IV" dark energy facilities such as BigBOSS, LSST, Euclid, and WFIRST. We briefly review a number of other approaches including redshift-space distortions, the Alcock-Paczynski effect, and direct measurements of the Hubble constant H 0 . We present extensive forecasts for constraints on the dark energy equation of state and parameterized deviations from General Relativity, achievable with Stage III and Stage IV experimental programs that incorporate supernovae, BAO, weak lensing, and cosmic microwave background data. We also show the level of precision required for clusters or other methods to provide constraints competitive with those of these fiducial programs. We emphasize the value of a balanced program that employs several of the most powerful methods in combination, both to cross-check systematic uncertainties and to take advantage of complementary information. Surveys to probe cosmic acceleration produce data sets that support a wide range of scientific investigations, and they continue the longstanding astronomical tradition of mapping the universe in ever greater detail over ever larger scales.