I don't really have any plain soap that I would feel safe using on my toys. I have a lot of scented items and feel that I they wouldn't do well on toys. I don't buy antibacterial soaps because I feel they're unnecessary - I'm already washing myself, which is already getting rid of some bacteria, and "antibacterial" products just kill off the good stuff that the body uses to protect itself.
I tend to use toy cleansers in combination with a good rinse in the sink. I haul all the toys into the bathroom, turn the faucet on with warm or hot water, moisten the toy, spray with cleanser, rub down, rinse the toy, dry it with a lint-free cloth, and put it away.