Listen to Terremoto (Dan), what he says is dead on. I worked for 15+ years as a consultant and color management trainer and worked for two color management software companies before opening my own shop. It can be a very simple subject once you get your head around the basics.
You can get excellent results from RGB, CMYK, or PANTONE. You just have to have your applications agree on what exactly is RGB, CMYK, and the modern RIPs almost all have proper lookup tables for PANTONE colors. Yes RGB has greater potential for gamut, but if you're given CMYK files, there is no advantage to converting them prior to printing just to adhere to some RGB dogma.
This brings you back to a simple, effective setup based around sRGB and US Web Coated SWOP if you're in the US. Make sure your design apps all share these "Working Spaces". Then make sure your RIP is configured to use these same profiles as the Input Profiles. There are some folks that would benefit from other RGB working spaces, but they're few and far in between.
Set your RIP up to use Perceptual or Relative Colorimetric rendering intents for everything. Typically you're best off not to mix these and better off to use one or the other across the board for all file types. As a default I'd suggest Perceptual.
Then comes the part you're really missing, using proper, custom made output profiles for each of your day to day medias. Without these as the foundation for accurate output, you're going to get inconsistent results from each media. Expect some complications when you first start making profiles. But once you've made a few, it becomes routine and you'll wonder why everyone doesn't do it. You don't have to have some magic eye to judge color, or some jaw dropping incantations to get the color you want. All you need is some fundamental knowledge and a decent RIP that'll do it's job of giving you a healthy balance of control and simplicity. Oh, you'll also need a spectrophotometer and software to generate a CMYK ICC profile for your output.
Don't sweat the monitors. Once you have the workflow sorted and some solid printer profiles, you care much less about what's on the monitors. Besides, chasing real softproofing is a LOT of work for results that are accurate.
Beware of anyone purporting that their method of using only RGB or only CMYK as being "the" way to do things. If you're really managing color, you can manage any color format (RGB, CMYK, PANTONE), and any color space (sRGB, US Web Coated SWOP, Japan Web Coated, AdobeRGB, ColorMatchRGB, etc.) and do them all pretty much equally well.