Either soap & water or toy cleaner & water, usually while I'm in the shower washing myself off. I'm one of those people who can't have sex or masturbate and then go to sleep without taking a shower in between.
Soap and warm water (NOT antibacterial soap - it has little added cleaning power and can promote bacterial resistance and/or reactions in people). My toys are all nonporous, but if I want to sanitize them I'll use bleach water (rinsed off after 30 secs) or boiling. If I was ever in a situation where I needed them sterilized I'd pressure cook them at 15lbs for 15 minutes.
Foaming toy cleaner and water most of the time (and on a few occasions Diva Wash since it was handy), wipes when I'm feeling too lazy to clean right away or I'm at my computer, and occasionally I boil my non-motorized toys.