Letting hot water sit in the pan for a bit before scrubbing with a soft nylon “scrubby” seems to loosen the crud and leave a lot of the protective “grease” on the surface. Then simply wipe it off with a paper towel.
For really stubborn, stuck on stuff, I use Kosher salt as an abrasive and work it with paper towel. That seems to get the crusty stuff off without damaging the surface.
The secret for me seems to be to make sure the pan is up to heat and well oiled before adding what I intend to cook. When I remember to do that, the food just slides around in the pan without sticking.