One would usally use one of several packages specifically designed for testing differential expression between conditions - DESeq2, edgeR and limma are the most common choices, all three are easy to use and have very good documentation. DESeq2 by default uses a Wald test on the model coefficients, but can use an LRT on a negative binomial GLM. limma and edgeR use quasi-likelihood ratio tests (qLRTs) - limma on using an empircal bayes moderated normal GLM and edgeR using a negative bionomial GLM.
I would almost always use one of these purpose build tools for analysing RNAseq data, which not only deal with the test, but with a whole host of important things that go along with the analysis, such as the correct normalisation of the data for differential testing, and robust dispersion estimation.
You might find that if you have hundreds or thousands of replicates, that a Wilcoxon rank sum test will give you more or less simlar results, but the Wilcoxon test will almost always be less powerful.
One thing to bare in mind is that the GLMs assume that things follow a certain distribution (mostly a negative binomial). This will be true as long as the replicates are all sampled from the same underlying unimodel distribution, but strange things can happen in the presence of sub-populations. You might find genes selected as differentially expressed when they are only differential in a subset of the samples. This is, however, generally only a worry when you have 100s or 1000s of samples. In these cases, and these cases only, there is some discussion on whether it is better to use a latent variable identification algorythm (such as SVA or RUV) and then the negative binomial based techniques, or if it would be better to use a wilcoxon.