I use a bucket of warm water and dish soap and a brush (meant for cleaning cars). An old toothbrush for tricky areas. I remove the wheels if I want to clean very throughoutly and wash them seperately. It's also easier to clean the jockey wheels this way because the chain is loose.
Then I dry with old towels, polish the frame with a little bike oil and lube everything.
I wipe and lube the chain regularly with an old cloth.
On my mountainbike I clean the discs with degreaser too.