I second (or third, or...) Boraxo! Nothing else - other than the generic equivalents - works as well. The only exception is when I have a thick layer of oil or grease; then I turn to the waterless cleaners, usually followed by Boraxo. I have an antique Boraxo dispenser, but a repurposed "grated cheese" container works well.
One secret to getting Boraxo to work properly is to first wet your hands, only use a small amount of the soap, and when it seems time to rinse it off, just add some more water & scrub some more. I'm really glad that the shop where I used to work had a dispenser at the sink - otherwise I might never have discovered the versatility of the stuff. When you are done for the day, a quick follow-up with regular bar soap will rid your hands of the kinda sticky feeling that Boraxo leaves behind.