For the frame and wheels a rag and some kitchen surface cleaner does the trick most of the time every couple of rides.
For the chain, I lube once a week or so and wipe the outsides of the chain often (every second ride) to remove lube which has come out from the chain along with any surface dirt.
About once every 6-8 weeks (depending on mileage) I will give it a wash in the stand:
1) The wheels come off
2) Chain off and into a tray of kerosene (use a quick link).
3) Cassette gets a light painting of kero using a cheap paint brush, followed by a spray (using a pressure spray bottle) with car wash and water and a scrub with a dishwashing brush. I spray the carwash over the rims and give them and the spokes a good wipe, followed by a rinse with another spray bottle of water. Leave them in the sun to dry.
4) The chain and kero it was soaking in go into a plastic jar and agitated to loosen dirt from inside the links. The kero is refreshed and the process repeated until the kero remains relatively clear. Used kero gets filtered through a coffee filter, allowed to settle and then resued next wash time. After this the chain is wiped off and layed on a clean surface.
5) A light painting of derailleurs, brakes and chainrings with kero to loosen grime followed by carwash. Then spray car wash over the rest of the frame, wipe to clean and then rinse. I then dry off the chainrings and derailleurs with a dry cloth.
6) The chain is reinstalled on the frame, checked for wear, and then lubed with a couple of drops of oil on the edge of each roller. Lube is only needed under the rollers so splurting it all over the place is an unneccessary waste and is the main reason for dirt build up. After lubing and working the lube in by cranking, as much excess oil as possible is removed from the chain using a cloth dampened with kero.
7) The wheels are installed, gears and brakes checked and adjusted as necessary, and it's done.
For the whole wash I budget one litre of water with carwash, and one litre for rinsing. Pressurised spray bottles help reduce water use as opposed to a garden hose or a washing pump. I can't see the total loss of kero being more than 100mL (more likely much less) as the vast majority used is filtered for reuse next time. Once you get it down pat the whole shebang can be done in half an hour.