Many years ago I once went to a car wash and used pressured water. It resulted in: a soaked ignition (bike wouldn't start anymore and I had to walk it home. Next day I discovered the drive chain had been degreased completely. Not much later I had to renew the rear wheel bearings and I don't rule out that even the worn drive flange (its inside grease gone), also had to do with it. Lesson learned. Never again. Hand dish detergent and a soft brush also does it. I also have an industrial cleaner that in a 1:10 dilution (water) does a good job and is biodegradable. As you are dealing with aluminium alloys, do not use aggressive 'miracle' stuff and leave, whatever you use, on not longer than say a minute. To remove grease by hand, a homemade 2:1 mix of kerosene (or lampoil for that matter) and naphtha also works fine.
After cleaning I protect the frame tubes with a simple 50-50% mix of kerosene and motoroil. Owners of CB500/550s can expect a dirty engine soon after, as these models tend to sweat some oil near the head gasket. I have made it a habit, whenever I fill up at a gas station, to use a paper towel for that. It doesn't take more than 10 seconds. For the rest: just live with it. In over a 100.000 kms it didn't got worse. It never dirtied my pants. When you use WD-40, avoid to spray near the front disk. Don't ask me.