If you plan on lifting them after they've flowered, you can purchase tulip baskets -- shallow plastic baskets -- in which you place the bulbs and bury complete. Removal is then simply a matter of lifting the baskets out of the soil.
I've had some tulips in the ground for 10 years. The older, species tulips (as opposed to hybrids) are more likely to continue to bloom yearly without loss of looks. Whether you leave them in, or dig them up, dead head them after blooming and let the leaves die back on the stem -- they're feeding the bulb -- if you plan on reusing them.
I've never lived in an area with deer, so cannot comment on that. But I always had a pact with the squirrels -- I fed them peanuts and let them raid the birdfeeders, and they left my tulips alone. :wink: (More likely, it was just luck).
Here's some basic info:
tulips
And a tulip lover's dream: