Originally Posted by 1whitewattafoo
I've always used a green dish scrubby pad along with a basic liquid soap in warm water, you really have to put some elbow grease into it
Yep, that's how I do it. I use Simple Green, a bucket and a garden hose.
The 'frame rub' (oxidation) stains will mostly come out with some focused and persistent rubbing with a semi-abrasive pad.
My boat's PVC, so can't really make any recommendations for Hypalon.