If you use oven cleaner make sure you spray in on a rag and dap it on, if it gets on your paint it could cause you problems. I also heard crumpled up aluminum foil will work.
Road Rub. Most HD dealers have it, not a HD product though. You can carry it with you and is easier than oven cleaner. It comes in a "tube" like solid deodorant. Works great, pipes shiny and carry it in the saddlebag.
That soft scrub liquid kitchen cleaner stuff works good once the pipes have cooled. Had issues all the time on my old metric with the over/under right side pipes and black soled boots.
One more vote for easy-off. Spray on cold pipes. Next day wipes off.
Another vote for easy off here! As others noted, spray it on a rag and wipe it on and off because it can really screw up your paint! Also Jrsess, you can save yourself alot of time by taking the bike out for a ride for about 15-20 minutes, then wipe on and immediately wipe it off! No need to wait until the next day that way!
easy-off oven cleaner you can get it for cold or hot put cardboard or thick paper or a rag behind where you spray so it don't get on the paint and wipe it off