I use:
1. Reusable Shank brush - because they are economical, reusable, and great for scrubbing. I scratched up a stem with the wire part once when I wasn't paying attention so be aware of that.
2. B.J. Long Tapered Cleaners - They work great, definitely more for everyday use and I find them easier to get through my bent stem than regular pipe cleaners. As the guys have mentioned, there is some extra fuzz...
3. Brigham Bristled Cleaners - These work great as well, but I tend to think of them as more situational than for daily use. I've never had a lot of gunk in my pipe so I use them sparingly. Also, I feel like you have to be careful not to use them too roughly as they are pretty scratchy.