I use watered down Bath and Body Works body wash. About one part wash and 8 to 10 parts water. I put it into a "foaming dispenser" and use it for everything from washing hands to washing toys. I have never had any material breakdown or problems.
Watered down Ivory is also good. I've also used Sliquid Splash in a pinch, watered down, too.
Antibacterial soap works for some people, but I get skin problems from it, eczema and dryness and occasionally even get a yeast infection from it, so I have to stay away from antibacterial soap.
I use Cal Exotics Toy Cleaner, but I wash my toys with soap and water after every cleaning with this stuff, as it contains the same ingredients as antibacterial soaps.