Water, brush.
Some people actually use simple Green as a traction additive, not just as a cleaner.
I sometimes leave them on the car and blow the rubbish off with the compressor when I get home. Anything other than that seems a little excessive as the tyres don't last that long anyway. Couple of hours running. Also, the instant you start moving on a clean set of tyres, they'll be dirty again.
A better idea might be to knock the worst of the dirt off and leave them in a zip lock bag, keeps them soft, stops the oils/softeners in the tube evaporating so fast.
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