Wheel cleaner

I'm a big fan of the Meguiars All-Wheel cleaner, with some soap and water to follow. Wet wheels, then use a microfiber mitt, scrub, and rinse. Be sure to rinse your paint around that area too (most people wash the remainder of the car to follow). I always dry with a microfiber towel when I finish the car.

As for the rotors getting stained, one good stomp on the pads and you never notice it after.
 
I used the Meguiar's cleaner for years on all my cars. I recently picked up some Pep Boys brand wheel cleaner for $0.79 a bottle (coupon plus discount) and I'm actually really happy with it. After using it several times, I just rinse off most of the dust before I even apply it. I rinse the wheels while I'm wetting the car down before a wash; that takes most of the dust off. The I'll spray the wheels with the cleaner and let it sit while I wash the car. There is always some scrubbing needed, but that's what you get with huge brakes and non-ceramic pads. (nervous)
 
I'm a big fan of a product that really soaps up on the wheels. I usually go over my wheels pretty thoroughly, and I pull them when I rotate the tires and scrub the insides of the rim, and apply a coat of wax on them as well. I'm gonna try wheel wax instead of a standard cleaner wax.
 
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