Best method is to rinse immediately after drinking and dry upside down.
If you have a dishwasher, you can throw them in there and run them through without cleaner. Otherwise, you'll have to get down with a bottle brush and some PBW or Oxy Free.
As for the labels, I do a quick soak in Oxy free (~10 mins), then go at them with a steel scrubby pad. Takes them right off, glue and all.