I try and follow the "swish and swipe" of Flylady that I started years ago. I wipe down the shower each day, wipe my counter and sink at night after I am done washing my face and swish the toilet a couple times a week. For the hall bath (the bath the boys use), while they are taking a bath, I wipe down the counter, sink and faucets and swish and wipe the toilet (my 4 year old does not have the best aim yet). As the bath is draining, the boys help me clean the tub with a brush and some old shampoo nobody uses. This isn't every day, just about once a week or so.
I wipe the floors down as needed in each bath. We have a half-bath on the first floor and I wipe the floor (dog has her water dish in there) more often and make sure there are clean hand towels and a clean sink and toilet--maybe once a week.
For products: I am using up some toilet cleaner I have had for quite a while in the half and master bath. For the boys' bathroom, I have baking soda I use in the toilet and some vinegar/water in a spray bottle. And the bottle of cheap shampoo that we use in the tub. In our master bath, I have a commercial spray for counters/sinks that I have diluted and it's almost gone. I also have a bottle of off-brand windex I am using up (I diluted it down with water, too). But in our shower, I use some body soap that we can't use b/c of skin sensitivity so that's my shower cleaner. I just keep a brush inside the shower stall for cleaning.