The pin or rod method as described by Peridexion is a great method for creating convincing track sag with vinyl or soft plastic tracks. Once painted, the pins are nearly impossible to see.
Simply gluing the tracks to the return rollers (as suggested by jc1000) will not only fail to recreate realistic track sag, but you might actually create "reverse sag" as the tracks strain to flex upwards.
Gluing tracks to returns rollers, however, is not a bad idea for tracks that don't have much or any sag, such as those on Shermans, for example. Just to keep the tracks from "floating" over the return rollers.
For the StuG, I'd recommend going with the pin method.