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I use a sander. I have a small DA with Velcro pads which cleans up the rotor in a few minutes. Depending on clearance, sander size, you may be able to sand the rotor while on the car. Put the sander in the space the caliper was in, sand then reinstall caliper.
to be fair I use Gloc R10/R8 and my OEM pads on the same rotors for 2nd season don't know why this requirment is but the OEM rotors are not very expensive so I just don't bother when they are done they are done. Also my GLoc pads are wearing great.G-Loc says that using a their pad with used rotors requires the residue from the old pads to be completely removed from the rotors. Is brake cleaner enough or do I need to sand them? Or what? Specifically, how should I do this? Any help much appreciated.