This thread has quite a few good ideas, but I thought I'd share our solution as well. We originally tried DC barrel-plug power connectors and 3.5mm headphone jacks, but the available connectors from Digikey were too expensive and the cheap ones we got from Amazon were of very poor build quality (didn't fit well, solder terminals kept shorting). In addition these solutions still required electrical tape to keep them secure and short free.
We finally settled on these small gauge Wago "Lever Nuts":
http://www.amazon.com/gp/product/B00HIOP6SC
They are *extremely* robust and require no soldering or shrink tubing and are tool-less to change out or reconfigure. They have zero exposed wire to risk shorting. When stress testing them we broke the 28awg stranded CAN wire before the connector teeth gave out. The only downside is they can be a bit rough on the fingers when opening and closing. To wrap it all up, they are *cheap* and fast at $0.30 per connector with free (Prime) 2day shipping.
One of our best finds this season
Good luck out there!