I use both, a steam cleaner & v/w wipe down, using double-sided sponge (from Dollar Tree), has foam on one side that fits into grooves and between bars and the other has a scrubbie that is good to use when needed. I keep my v/w solution in a spray bottle, spray onto the sponge and wipe down, then sometimes take a paper towel and wipe off, but not always (I'm kind-a lazy too). I do the v/w wipe downs weekly to biweekly, sometimes some spot cleaning on weeks I don't wipe down the entire cage (empty or mostly empty). In my spray bottle, I mix 1 part v/2 parts w (hot) before cleaning the cage.
The steam cleaning I've done at different variables, now I pretty much use it about 3 times a year, maybe an extra time if I feel like it really needs it. Sometimes I wipe down with v/w solution first, then steam clean, sometimes just direct steam cleaning, depends on how long it's been in between (1 or 2 weeks of v/w wipe down). After using the steamer (a hand-held), you still need to wipe it down, I use paper towels. If you don't wipe it down, you won't really remove any grime or stuff on the bars.
I can't really say which is easier, personally I would love to be in a situation where I could take the cage outdoors at least 2x a year and hose, scrub with dish detergent, and hose down again. I was only able to do that one time with a previous cage, because I was moving and taking it outside to place in U-Haul trailer. So far, all of my living arrangements make it very difficult to nearly impossible to take the cage outdoors. That's why I love to add the steam clean a few times a year.
Hope this helps.