Hands ... although back when I was a kid I used to use a washcloth because my parents demanded it. Too s*****y and rough for my tastes. I feel cleanest doing it with my hands. (edit: I just got censored? uh... I wasn't aware I said anything foul, whatever)
I shower at least everyday but I alternate using loofah and my hand and sometimes I use pumice stone, I like this one because it really gets rid of the dead cells.
Loofah. I scrub hard with it, though. And then usually use a salt scrub after that. I really like being clean.
I use a scrubbing glove for my back, arms and legs. With bare hands, I feel I can't get really clean.
If I'm at home, I'll use a facecloth, except when I forget to take it into the shower and can't be bothered wasting more time. Elsewhere, I'll probably use my hands, because hotels don't usually provide washcloths; I don't know the lifestory of any washcloths which might be provided, and I don't pack half the house into my bag.
Hands, but I did just read somewhere that excessive soap is actually not healthy for your body, suggesting to use soap only once every few days. Had a big debate with my partner about this article!
I use hands, and at most, some body scrub like this one(smell amazing). But otherwise, no. Too much hard scrubbing damage the horny layer of your skin which protect other layers of your skin from infection, dehydration and chemical or physical damage.