Tipping in the Netherlands

Tipping varies from one country to another and I do not want to offend on my trip to Holland, so what is the tipping practice?

In the US, you can write the tip on the receipt or leave it on the table - I have also seen a service charge added to the bill automatically (in these cases, I also generally tip anyway).

In some countries there is no such practice but it is expected to tip on the table.