Adsense is the way to make money from your hubs in conjunction with the Google Adsense revenue sharing program.
In any month that your Adsense balance is $100 or more you can count on receiving a payment from Google by the end of the next month. So in June if your balance was $101 you will receive payment from Google in the last week of July.
The hubpages ad program works the same way but it is run by hubpages themselves and not by Google. To be paid from the HP add program your balance at the end of any month needs to be $50 or more.
With both programs the better quality your hub the more money you will make.