I have no problem cleaning my George Foreman grill, I do what TerriLacy said and sorta hang it over the lip of the sink. I use a washcloth with hot, soapy water on it and wipe it down. Nothing sticks to it very much. Then I rinse it with clean water using the same washcloth. Set it in the sink to drain and put it away. No problem!
I love love love my George Foreman. I also have the one with the detachable plates. The top and bottom plates pop right off for super easy cleaning. Other than that the easiest way to clean it is to do so when it's hot, as people have mentioned already.
We have the exact one you have, and it can be a pain to clean.
I have a sprayer on my sink, and while it's still hot, I wipe it off with a damp washcloth and then spray it off with an easy stream of water. It's just wide enough to keep at the edge of the sink, so the gunky water goes right down the drain. I let it air dry, but make sure you wipe the front edge, or yucky stuff will build up there.