If you are only doing a small amount you can mix water and vinegar and spray on. Let it sit for a few minutes then spray again and wipe. This should require very little if any scrubbing. A cotton or microfiber cloth would do fine. If you are doing the whole home I would use some sort of preasure washer that has a preasure control so it doesn't knock the vinyl lose. If preasure washer is not an option I have heard of people getting a regular hose with an attachment that has the "jet" setting and spraying the grime right off.