Here's my favorites tools and products to remove makeup: I use Bioderma Sensibio H2O for my eyes and lips as it is very gentle; DHC Deep Cleansing Oil is jus the best makeup remover I have ever tried; I use Cleanance from Avene to cleanse my skin and for an extra cleansing and exfoliation I use a manual face brush.
Makeup always implies the makeup removing process. Most of us hate it because it takes time and after a long day (or night), this is usually the last thing we have the energy to do. But skipping that part is probably one of the worst thing you can do to your skin!
Oh, and don't think that if you don't wear makeup you can skip that step : you still have to cleanse and wash your face every day, even if you don't wear make up. Your skinn is naturally attacked by our external environement (molds, bacterias, dust, poluttion). You have to clease your skin to remove all of this every night :)