This is also personal experience: I recently made a tutorial on the topic of iPhone UINavigationControllers on my own own site and found it was the number one Google result for "uinavigationcontroller" after about 2 months.
I'd only linked to the article from 2 other sites, so the conclusion I've drawn is Google either really values links from Stackoverflow (the 1st link), or the more likely it bases a lot of its rankings on uptime, load time,HTML of the actual site, having a Google sitemap and signing up for the Google Webmaster Tools.
So stick to H1,H2..P HTML tags, ensure 99% uptime and heavily cache the site so it loads in less than a second or two. Then watch where you're going wrong with the webmaster tools.