I've used a microfiber cloth if it hasn't cooked on yet. Couple weeks of accumulation or so.
Griot's Heavy Duty Wheel cleaner works for me. There's no scrubbing but you have to "agitate" before you rinse. I imagine most of the other cleaners are the same way. The job is nasty and you don't want a true stripper.
Also be sure there's plenty of ventilation. The stuff is _strong_.
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