I'd recommend buying rental properties in areas with low housing costs relative to rent.
There are parts of Florida where 3 bedroom existing homes (i.e. not new) are $100,000, but monthly rent for that same house is $1,000+ per month.
Based on discounted cash flow, you can determine the value of any revenue stream. In some parts of the country, you'll find homes are undervalued compared to rents.
Stocks are good, but they're not good for steady withdrawals. For example, during a bear market your withdrawals are very costly.
To retire, you need predictable income streams, and rental property is one of the best.
Plus, it's easy for a regular person to leverage money for real estate. For example, with $1 million, you can buy $3 million worth of property with 33% down -- not counting transaction fees, though).
33% down should give you immediate profits from most of your properties.
$3 million could get you as many as 30 condos/homes in the right areas.
If monthly profit on each of those 30 condos/homes can average $200 per month, that's $6,000 per month right there.
You might still want to continue working for a few years to give you capital to deal with hiccups and allow some time for those mortgages to pay down further.
In a nutshell, rental property is one of the faster ways to generate income without working.
The other, simpler way is to move to a country like the Philippines.