The best method is using the product and cleaning suggestion made by the manufacture of the stove in question.
I remove the bulk of the soiling on mine with a flat razor blade. From there a commercial "polishing cream" or a homemade mix of baking soda and water. for day to day oily clean up we use a citrus based cleaner.
@Wil L I saw @Mom4Real post - http://www.hometalk.com/606415/how-to-clean-your-ceramic-stovetop - and have been cleaning my glass top this way ever since. Works every time! And very inexpensive.
I use a flat razor blade also. For the really cooked on stuff I use the magic eraser and "Bar Keeps Friend" scrubbing powder. I have been using this for seven years now and my cook top still looks great.