Typically I would say that I do prefer the sub over the dub, just because the voices tend to sound more natural and genuine for obvious reasons. But people saying that all dubs suck? That's an awful, awful generalization.
Having seen a few series in dub I know there are some I can vouch for. Admittedly I have never watched through the Japanese versions of Dragon Ball Z and Yu Yu Hakusho, but from what I HAVE heard I can definitely say I preferred the dub. For whatever reason the English voices feel like they were made for the characters (how can anyone NOT like Chuck Huber's Hiei?) and they really capture the energy that's necessary for series like those. Fullmetal Alchemist also has a good dub from what I have seen, though I only watched through the sub in its entirety so I can't say for sure how the dub compares but I'd wager that it's close in quality. Gurren Lagann is great in both sub and dub, and while I prefer the sub a slight bit more the dub is by no means bad. I never watched Baccano in sub but I have seen the dub and it's just fantastic because it really fits the setting and, unlike typical anime, definitely feels genuine for that reason.
I find that most people who bag on English dubs have never legitimately watched through an entire series in dub and also assume that all dubs are as bad as 4Kids One Piece, which could not be more false. It is true that someone who is used to the voices in Japanese might find it difficult to adjust to the changes with the English casting, but that is not because the English voice actors are bad but rather because seiyuus just set the bar for high quality. Mamoru Miyano and Kana Hanazawa are utterly fantastic seiyuus that do amazing jobs with any character I've seen them play and I don't believe I've found any English voice actors that I'm as attached to. But that's not something you can fault any voice actor for because those two are just excellent to begin with. But in any case, dubs really aren't all that bad and if anything dub hate seems to be more of a bandwagon where people think it's "cool" to hate on dubs. Even if they aren't typically as good as the subs it by no means makes them bad.