WHY NOT WD-40
Very simply put, WD-40 strips the oil from your components drying them out and causing issues in the future. This goes against what you are trying to do.
You want a long-term lubricant and WD-40 is not a long-term lubricant. It is a cleaner and rust preventative in the short-term. It does not create a buffer between metal on metal operations.
However, you can use WD-40 as a cleaner for the tracks and to remove any grease build up, but not as a lubricant.
WHAT WE RECOMMEND
We have used several different lubrications for garage doors in the field. The one that seems to work consistently over time and is readily available to most of the public is the 3-IN-ONE brand. It is one of the best we've found that is not a mess to work with. It will lubricate long-term and prevents rust and corrosion as well.
If you live in a very hot climate we recommend lubricating possibly 4 times per year. In other average climates two times per year should be fine.
If you are not comfortable getting on a ladder and doing this yourself, contact your local garage door professional and they will be glad to assist you.