When the bike gets to looking a bit grunged I simply use a cleaner I get from a local store (degreaser) and wet the bike down then spray the cleaner on and if stubborn stains use my hand to work it lose then spray off. I then clean the cassette and front chain rings and use a brush sometimes as well. After all that I let the bike air dry then lube the chain with a chain lube and ready to go on the next epic ride!
I do wax the frame once a year and break down the cassette and degrease totally. Usually that is a winter project when I am bored and need to have some alone time to listen to my 80's music and yes, wait for it, smoke a stogie and relax!