Depending on what type of boating you plan to do, there is a wide variety rescue tools that may prove useful:

Theres always a trade-off between weight, space, etc with small craft like kayaks that you need to consider.  Canoes and Rafts don't have these same limitations but when they get stuck, its a far more serious matter. 

Introduction

There are a number of ways to assist someone that has flipped and is swimming.  Much depends on how close to shore you are.  If close, the most common way is bull-dozing or towing the boat to shore.  To save time if the paddler is still in their boat, a simple T Rescue is a good bet.  Sometimes when in deep water a distance from shore, you may wish to empty their boat over yours and hold it to stabilize while they climb back in.

T - Rescues

A T Rescue can be useful in large flat pools.  In most river situations, it is usually easier to move the boat and swimmer to shore where it is easier to drain the boat and get them on their way again.  If you are well away from shore in a calm area, you can pull their boat perpendicularly over your own, rock and empty.  Once empty, you still need to help them crawl back into their boat by holding it stable alongside your boat.  This technique definitely takes some practice.  One way to make it easier is turning the boat on its side to break the strong cockpit seal on the water.  Here is a nice video demonstrating this technique: T Rescue Demo.

Boat-Over-Boat Rescue/Importance Of Inflated Airbags

If you are attempting a boat over boat rescue like a T Rescue, it is much easier to do so from the rear of most kayaks these days.  Modern boats are shorter and most people only install flotation in the rear of their boats.  The front of the boat will be exceptionally heavy, too heavy to lift.  As a trip leader, you really should check beginners boats to ensure their air bags in the rear are fully inflated.  Fully inflated air bags help to ensure an empty boat stays somewhat near the surface of the river and doesn't get snagged underwater where it can be very difficult to retrieve.

X - Rescues

X rescues are typically done in deep and wide bodies of water.  There are several variations of this technique.  In a nutshell, you bring the boat alongside your own but face it in the opposite direction.  The swimmer can enter the boat either between the two boats or on the outside using a heel hook entry.  Once inside, they pump out the water and re-attach their spray skirt.  The following article describes numerous variations: X Rescue Article. Here is a video of an X Rescue: X Rescue with entry between boats.

On smaller rivers in whitewater kayaks, we really wouldn't use this procedure.  It is usually best to get back on shore if possible or get assistance from someone else.  Sea/touring kayakers often get more spread out and need a way to re-enter their boats on their own.  A key piece of equipment is the paddle float.  You can attach this to one end of the paddle, inflate, and secure or hold on the uprighted kayak.  The paddle float acts as a vert stable outrigger.  Once in place, you can use the paddle to climb back in the cockpit facing towards the rear kissing the back deck.  Once on top, spin the body to face upwards and secure yourself in the kayak.  Hopefully you have a pump handy to empty as much water as is feasible.  Here is a good demo with explanation on this procedure: Deep water re-entry.

Most of the time, we empty our boats on shore.  Most boats these days (Jackson Boats are an exception) come with convenient drain plugs.  If you haven't done so, I highly recommend tying a thin string from your plug to the end grab loop so you don't lose it.  I also highly recommend purchasing a spare plug and even pack a wine cork in case someone else loses a plug.  Carefully unscrew the drain plug.  Now roll your boat over on its side, this should remove 3/4's of the water rapidly via the cockpit.  You can now lift the other end of the boat to allow the water to drain via the drain plug.  Since water weighs 8 lbs/gal and the typical boat weighs 40 lbs, you are lifting roughly 40 + 8*15 = 160 lbs - better get someone to help you.  When you are finished, don't forget to screw the drain plug back in and perhaps mop up the remaining water with your sponge.

Another method that works is the T Rescue.  This is great on larger bodies of water and can save a great deal of time.  Basically, you have a friend drag your boat upside down over theirs to empty it out.  Here is a nice video from NRS on this  technique: T Rescue.