I have used Adams Tire & Rubber Cleaner, DP Detailers Dual Action Tire & Wheel Cleaner, TufShine Tire Cleaner and Meguairs D143 all with great success. The only issue is that is seems to take a lot of product to get the tires really clean. Sometimes it will take two or three treatments to get the foam to turn white after scrubbing. With the exception of D143, the other products are consumed rather quickly and can get costly.
The best and most economical tire cleaner for me is LA Totally Awesome from the Dollar Store. I cut it 1:1 with water and I can usually get the tires completely clean with 1 or 2 treatments.