Replacing paper towels in some uses without making cleanup annoying

I go through paper towels quickly when cooking, mostly for wiping counters and drying hands. Reusable cloths seem like an easy saving, but I don't want oily rags piled beside the sink or a hygiene project. I'm thinking of color-coded washable cloths for ordinary surfaces, keeping paper towels for especially greasy or unpleasant messes. What setup reduced waste without making everyday cleanup more complicated?