If there was a specific program, I believe God would have given it to us in His Word, after all, it would go right along with the Great Commandment. In my experience, true discipleship happens on a "friend" level. Do you agree this is how Jesus did it with His disciples?
Because each disciple is unique, there is no "program" that will work for everyone. You can glean from programs to add to your set of tools when disciplining and will find it often takes bits and pieces from several programs for each person. "Doing/experiencing life" with them, together, as friends who are open and honest with each other, produces disciples. Follow the lead of the Holy Spirit after praying for each person you are disciplining. You may find you need to pair up people with someone other than yourself. Our hearts may have good intentions, but we must follow the Holy Spirits guidance if we are going to be effective in disciplining.
If you are leading a group of disciple makers, try to be familiar with as many programs as possible, this can help in decision making and explaining things to others. I recommend you pray for the Holy Spirits guidance and teaching when you study programs, just as you would when you study your Bible. Remember, sometimes good intentions of the heart can cause problems and hinder progress in spiritual growth.
Reminder: Our ways are not His ways. Yield to His guidance. He knows what is best for all our lives. Be cautious with programs as a solution, instead, look at them as suggestions or examples and glean from them parts which apply and are confirmed by Holy Spirit for the given situation.