For non-skid and stubborn stains, I use something called black streak remover. I think star-brite is the brand. It's just a strong cleaner. Probably something like fantastic or 409 just at marine prices. Again spray on and wipe off, none in the lake. This should take off anything boat soap would.
I'm not an enviro-nazi, I don't think a few drops of soap here and there will be the end of the lake. But it's just as easy to do it without a big mess. Plus I often do my cleaning at the condo dock or a sandbar, either way rinsing soap into the lake will tick off the people around me.
BTW I have used wax on my non-skid, nothing cleans like a cleaner wax. I have the stuff that feels like sand in the gelcoat. It wasn't that bad but it was a little slick so I cleaned the wax off with black streak remover.
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