It has three steps:
1. Generate the prime implicants of a function;
2. Construct a prime implicant table; and
3. Generate a minimal cover of this table.
In this paper by Steven M. Nowick you can find one of the two-level hazard-free logic minimization algorithm which is based on the constrained version of the Quine-McCluskey algorithm. Only certain implicants may be included in a hazard-free cover, and covering requirements are more restrictive.