'Best' practice for restful POST response

Returning the whole object on an update would not seem very relevant, but I can hardly see why returning the whole object when it is created would be a bad practice in a normal use case. This would be useful at least to get the ID easily and to get the timestamps when relevant. This is actually the default behavior got when scaffolding with Rails.

I really do not see any advantage to returning only the ID and doing a GET request after, to get the data you could have got with your initial POST.

Anyway as long as your API is consistent I think that you should choose the pattern that fits your needs the best. There is not any correct way of how to build a REST API, imo.

Returning the new object fits with the REST principle of "Uniform Interface - Manipulation of resources through representations." The complete object is the representation of the new state of the object that was created.

There is a really excellent reference for API design, here: Best Practices for Designing a Pragmatic RESTful API

It includes an answer to your question here: Updates & creation should return a resource representation

It says:

To prevent an API consumer from having to hit the API again for an updated representation, have the API return the updated (or created) representation as part of the response.

Seems nicely pragmatic to me and it fits in with that REST principle I mentioned above.