The Wikipedia article on the Ping Pong Lemma gives a nice proof that the subgroup of $SL(2,\mathbb{Z})$ generated by
$$ A = \begin{pmatrix}1 & 2\\ 0 & 1\end{pmatrix}, \qquad B=\begin{pmatrix}1 & 0\\2 & 1\end{pmatrix}$$
is free of rank two. By considering maps $\phi_p: SL(2, \mathbb{Z})\rightarrow SL(2, p)$, for increasing primes $p$, it is easy to show $F_2$ is residually finite (the name for the property in your first paragraph).
Since all finitely-generated free groups are subgroups of $F_2$, and this property clearly passes to subgroups [restrict the maps], all finitely-generated free groups are residually finite.
Since any given element only has finitely many generators in its representation, and we can always extend maps trivially to the rest of the generators, all free groups are residually finite.
Finally, if we want to do this for finitely many elements, where we have $\phi_i: F_S\rightarrow G_i$ such that $\phi_i(x_i)\neq 1$, just consider
$$ \prod_i\phi_i: F_S\rightarrow \prod_i G_i$$