If you are willing to consider a sand substrate, 3M colorquartz sand is very easy to clean in my opinion. I have black S-grade in my tank and have no problems vacuuming it -- even if some gets sucked up into the vac tube it usually falls back down into the tank. All of the waste stays on top, so it's just a matter of holding the vac low enough to suck it up.
Colorquartz is quite heavy as far as sand goes and will sink right back down to the bottom if you stir it up (i.e. as long as you rinse it well before putting it in the tank, it will never cloud the water in the future). It's cheap and looks spectacular.