A flattened cardboard box underneath will save your floor.

After a particularly dirty spin, I will:
* knock off big chunks with water, then let it dry (you can skip this if you have to)
* wipe off whatever's left with a rag & WD40
* take off the cassette and wipe it all down w/a rag & WD40
* pay special attention to get gunk out of the headtube, brakes, BB and crankset areas
* clean & lube the chain

You shouldn't have much problem doing this in your kitchen on a bike stand, except maybe the water part, but you could skip that and just wipe down more with more rags & WD40. I use WD40 for general cleaning because it shifts any road grease, lightly oils everything, and displaces water... and it smells nice.