The easy option is to put the bike on a stand, spray liberally with a degreaser - I often use Simple Green - then hose the bike down to rinse it all off. I have used the "jet" function on my hose sprayer without issue - it's a big step down from a pressure washer.

If you really want to get things clean, remove the chain, chainrings, cassette and run them through an ultrasonic cleaner. Also, remove the rear derailleur pulleys to clean them out. Rags, soft brushes, q-tips and pipe cleaners are your friend.