Suit up in your worst clothes (a hoodie may be good for this).
Park it in the street, soak the underside in Simple Green.
Verify your axle vents and any other place where water may get sprayed into, are properly addressed.
Drive to the local "pump in the quarters" type car wash with your creeper, $20-30 in quarters, a towel, and a change of clothes.
Soak the underside in Simple Green again.
Pump in $10 at a time and roll around underneath as long as needed to get it as clean as you want.
After it's dry, paint exposed parts as needed or coat nearly everything in Fluid Film, undercoating, etc. (there are threads here about this)
In my experience this is more effective than the auto carwashes with the undercarriage wash option.