For a while I had to strap the canoe down to the truck bed. It worked out okay except that the canoe stuck out 7 feet behind the truck.
My first upgrade was the ADARAC truck bed rack system. They retail for just under $400 but I was able to get one on ebay for $340. The rack is made completely of steel and I read a review somewhere that it might rust so I went ahead and painted the rack to match my truck.
Not too tall for this parking garage! (but pretty close)