I have a brush with extremely soft bristles that I use. It keeps me from getting my hands all wet, and it makes it easier for a short person like myself to reach the middle of the hood, roof, etc, without risk of scratching the fenders or doors. Towels, mitts and sponges just have too much of a risk of having something get hung up in them that you would drag around on the paint and scratch it.
I use a brush or cotton towel for the wheels/tires, depending on how dirty they are.
I love this Tiburon but would give it up in a heartbeat to have my 2002 ZX5 back...