I get a soapy sponge and scrub it off. I don't know what I need a sink for anyway. I don't want to get it as wet as it would if I ran it under the faucet. (Then I sanitize with vinegar/water and then coat with mineral oil. Cooking for engineers skips the sanitizing step and glosses over the oil.)
After you've put soap on it, you need to rinse it before moving to the next step, right? Seems like it would take a lot of wiping (and rinsing of the sponge) to get to the same level of confidence about lack of soap as a simple rinse of whatever you're cleaning. Does the vinegar displace soap, or something?
This may be surprising, but you don't actually need to rinse off dish soap. Hell, at home we don't even dry thing up, just leave them to drain and evaporate. Never noticed any kind of residue or flavour.
I just wipe it off with a wet paper towel. I never notice any residue or flavor doing that. I figure if I'm not tasting the vinegar I spray on after, I'm definitely not tasting some dish soap.
I also use a very light natural dish soap. YMMV if you're using one with strongs scents/chemicals.