How to Solder a U3V70F12 Motor Driver Carrier
This method works for any of the U3V70x series voltage regulators found on www.Pololu.com
Personally with the amount of current capacity I would always vote for using the wire clamps over the pins. Most breadboards can only handle 1-2A of current safely.
WARNING: Do not solder the pins on if you plan to use the wire clamps, you will be exposing voltage through the pins that could easily short on an object including yourself.