It doesn't matter what system you have, if the water lies in the pipework and cools it's going to take time for the hot water to come through - the time it takes depends on the length and size of the pipework. Reducing the distance between the boiler/heater and the water outlets will help alot.
The only way really, is what Hospitals have - their hot water systems are on a pumped continuous loop, so the water is always circulating - therefore always instantly hot, for example the wash basins wont have a single pipe going to each tap, they will tee into a ring/loop (there's no dead ends).
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