Nobody looks at a typical flop bet and says "aha, he's got a set". It's impossible to detect. Playing it fast is actually what Brunson recommends. His assertion is that you want to lead off the hand just the same way you would with any continuation bet - where you probably missed the flop. Both players called your flop bet because they figured you must have missed (since you probably are holding some high cards, and they are clever to have limped with garbage and caught a piece of the flop). Once they improved to trips you had them on the hook and they were never getting off (the rest is standard).

I will sometimes bet 1/2 the pot on the flop if I am up against tight players. I want to make it easier for them to call with overcards so that they have a chance to improve to TP.

The whole time you need to be aware of drawing possibilities. If you see the board coordinate on the turn, drop a big bet in there to take it down. Don't let them outdraw you on the river.