Thanks to Natasha Covell for this Frugal Baby Tip!
Here is what I do to make cloth wipes easier. I use a wipes warmer filled with water, so I can just dip my wipe in warm water at each diaper change. I hated having to wait for the water to warm up and making a trip to the sink for each diaper change.
For on the go, I just wet some cloth wipes and stick them in a Ziploc bag and they stay nice and moist - works pefect. Put the used wipe with the used diaper and you're done.