You can buy bilge cleaning products in marine stores, but I use "Dawn" brand dishwashing liquid (and water, of course). Some folks think you can just dump it in there, but I find that it works better if you use a brush to clean it just like you would when cleaning anything else.
Remember that anything you put into your boat's bilge will affect the bilge pump so you don't want to use anything that could attack plastic or rubber.
After cleaning the bilge, I pump the water out and then rinse a couple times.
A clean, dry bilge not only looks and smells better than a dirty or wet bilge, it allows you to see problems such as an oil leak.