For a big clean-up, I put about a liter of super hot water, a squirt of dish soap, and 2 tbsp of bleach in a pail. Wash up with a rag, let dry, then rinse well. For quickie clean-ups, I add rubbing alcohol to vinegar and water.
Cleaning up is easy here as our guys eat in their crates or occasionally outdoors. I know some folk who taught their guys to eat on a towel and just chuck it in the wash when they're done.
"Education is a progressive discovery of our own ignorance." -Will Durant