Warren, when I was in High School and had no money nor a job, I used to wash & detail my richer buddie's cars with the wide-whitewall tires then popular. I found that stolen Brillo pads from my Mom's kitchen worked best. My friends were not precision drivers (or maybe that's asking a lot from '40-'50s Chevs & Fords driven by teen-agers). So there were a LOT of curb scuffs to hand-scrub off. In spite of fooling with cars a lot, my hands & fingernails were spotless during this period!
Nowadays there's probably something better, but its still going to take some physical labor. I seriously doubt if any of the no-work-spray-on liquids actually word as no-contact cleaners. There is also rubber tire touch-up paint for when the color has been hopelessly faded by time or abuse. Try AutoZone or maybe the Web.