How can I change OS X Double-Click on Title Bar to be like Windows?

I love my Mac eternally but there is one thing I miss from my former Windows days. When I want to toggle between maximize and restore window, on Windows I would double-click the title bar, and that would invoke the toggle.

However with older versions of OS X, a double click on the title bar causes the window to minimize, forcing me to hit F10, then locate the minimized window, then click on it. Too many steps.

Is there any way to make OS X perform the toggle on double-click?

Choose Apple Menu → System Preferences, then click Dock.
Select check box Double-click a window’s title bar to zoom.
Double click on window's title bar to maximise the window.

Zoom expands a window to fill the space between the Dock and the menu bar. If the Dock is along the side of the screen, the window fills the space below the menu bar and to the side of the Dock.

Up to macOS High Sierra 10.14:
Perform steps 1 and 2, then Shift + Double click on title bar to maximise the window.

Shift + Dbl-Click works perfectly!

You can do it with third-party software