I don't even bother taking the chain off the bike. I spray the crap out of my drivetrain with WD-40 (case of WD-40 is cheap) and let it work itself, loosening grit and grime. Then I'll rinse with water, followed by soapy water and brush, rinse again, let dry, and lube. I've been doing this for years, works for me and it's quick.