I had this idea and being fairly skilled with self-hypnosis tried it with the suggestion, "I will remember at least one dream where I realize I am dreaming a day." Well the first night after this and for six nights in a row afterwards I had lucid dreams. Mind you about three of these were barely memorable and I'm not entirely sure that those three of the six were lucid but I believe that they were. I also reinforced the sugesstion after nights where I didn't have lucid dreams if I remember correctly. I stopped having them after that and just Friday I did the suggestion again and I had lucid dreams three more nights in a row.
In other words it seems to work quite effectively if you know what you're doing and reinforce the suggestions regularly. It works fairly well for me, I only had them about once every couple of weeks before that. Mind you I still do reality checks when ever something weird happens as well. At the very least this technique seems to have made a large difference for me.
EDIT:I forgot to mention that ,unless I'm mistaken, MILD uses a form of self-hypnosis. I believe it's called auto-suggestion. You know the part where you say,"I will realize that I'm dreaming while I'm dreaming tonight," as you're going to sleep.