Rick Macauley showed us this move at his seminar. Thanks to Prashant and Pat for helping me with my notes. It can be set up from many positions, but Rick showed us the setup from half guard.
No matter how you set it up, you want to be on your side for control. If you are attacking his left foot, fall onto your right side. Put your left foot on his hip so he can't sit up into you. Pinch your knees to isolate his leg.
Trap his ankle under your right armpit. You want to be as close as you can be to his foot. It may feel like it is almost going to slip out, but this is a good position.
Use a figure-4 grip with your left forearm biting into his Achilles tendon and your right hand on his shin.
Lean back with your head on the floor to finish.
There are many more finishes than just using the figure-4 grip and leaning back. Rick thinks the figure-4 is the most secure grip. The cup-and-saucer grip is a common grip; you look over your shoulder next to the ankle lock to finish it. The reverse RNC grip AKA "Bicep Grip" is a cool option, but you have to look over your other shoulder to finish it.
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