You can machine wash towels and rags in hot, soapy water, to which bleach has been added according to manufacturer's instructions. Do not mix chemical substances unless otherwise instructed to do so. Some combinations can be dangerous both to your animals and your household. Never mix ammonia and bleach. If at all possible, establish a routine.
Check enclosures daily for messes that can be quickly cleaned.
Schedule one day a week to do a complete cleaning of all enclosures. This is a good time for animals who are otherwise enclosure-bound to get some fresh air and sun, or a nice long soak in the tub while you slave away in their tanks. Well, worry about streaks and fumes no more. Just spray it on and wipe as usual. For stubborn spots, spray some on the spots, let sit for a minute or so while you work elsewhere, then rub it out.