Depending on what you’re washing, a good rinse can take away most bacteria and pesticide residue. But just to make sure, I wash fruits like apples, oranges and pears with a mild soap and water.
For root veggies and produce with grooves like cantaloupe, scrub it with a brush, soak them in a bowl of warm water, then wash in a colander under running water for 20 seconds. For leafy vegetables, you can read it here.
For produce that looks really dirty, splash on some distilled vinegar before rinsing, the acid will help get rid of dirt and chemicals.