I typically just use a good quality "people shampoo" for my dog.  When my dog was younger, I would wash her outside with the good 'ol garden hose.  This week, I took pity on her and gave her a nice warm bath in the tub.  She enjoyed that much more than the hose...  
Whatever product you use, be sure to 
thoroughly rinse out the shampoo/soap to avoid itchy dry skin.  I use an old "dog towel" (towel that is no longer "good enough" for company) to get out as much water as possible.  My next step is to use a "slicker" brush to help prevent clumps.  Then.. a nice doggie treat for all of her suffering.  After the treat, she finishes air-drying outside.  
For what it is worth, I had a bad experience with a cat as a small child (I was around 3?).  Three delightful parallel scratches down my arm from elbow to wrist.  No permanent physical scarring and minimal mental scars, but I definitely prefer dogs - even the pitiful "why don't you love me anymore" look 
