I am a bit of car detailing addict and have tried way too many cleaning and washing products to count.
For a rinseless wash, I second those who have recommended ONR and ONR with wax. For a waterless wash with wax, my favorite is Meguiars D115:
Meguiar's® D115 Detailer Rinse Free Express Wash & Wax, 1 Gallon
This Meguiar's cleans great, leaves behind a beautiful wax shine, and smells awesome.
If for some reason you prefer a waterless wash without wax, then I recommend McKee's Waterless Wash on the Go :
McKee's 37 Waterless Wash On The Go Concentrate makes several gallons of ready to use waterless car wash!
Optimum, the makers of ONR, also make a waterless wash called OptiClean which is very good. I prefer the McKees slightly but either one is a great waterless option.
The Meguiars D115 can also be used as a rinseless wash but I do not recommend it. The recommended dilution ratio for a rinseless wash make it way too expensive to be used in this manner, in my opinion.
If you are going to do a traditional wash or a rinseless wash, I definitely recommend this drying aid. I have found it to be the best drying aid on the market. It enables you to dry your car with a damp microfiber towel, so it greatly reduces the risk of inducing scratches into your paint.
AMMO Hydrate Paint Moisturizer | AMMO AUTO CARE INC.