The need for energy-awareness in current data centers has encouraged the use of power modeling to estimate their power consumption. However, existing models present noticeable limitations, which make them application-dependent, platform-dependent, inaccurate, or computationally complex. In this paper, we propose a platform-and application-agnostic methodology for full-system power modeling in heterogeneous data centers that overcomes those limitations. It derives a single model per platform, which works with high accuracy for heterogeneous applications with different patterns of resource usage and energy consumption, by systematically selecting a minimum set of resource usage indicators and extracting complex relations among them that capture the impact on energy consumption of all the resources in the system. We demonstrate our methodology by generating power models for heterogeneous platforms with very different power consumption profiles. Our validation experiments with real Cloud applications show that such models provide high accuracy (around 5% of average estimation error).