I had a waiter ask me "do you want change?" and my response was "Now that you've asked... Yes!" I made sure his tip was exactly 15% nothing more.
To answer the original questions, just get your change and leave the tip on the table. If there's a cashier, either leave your tip before you pay or if you don't have the change wait until you've paid and walk back to the table to leave the tip.
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"The truth is merely an excuse for lack of imagination." - Garak
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