We describe a fluctuating surface-current formulation of radiative heat transfer, applicable to arbitrary geometries, that directly exploits standard, efficient, and sophisticated techniques from the boundary-element method. We validate as well as extend previous results for spheres and cylinders, and also compute the heat transfer in a more complicated geometry consisting of two interlocked rings. Finally, we demonstrate that the method can be readily adapted to compute the spatial distribution of heat flux on the surface of the interacting bodies.