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A stiff bristle brush will do you well. Look for one that is a good size, not too large.

I like the type that also accepts a pole that threads in so you can stand up.

As for products, start off with the general cleaners and work your way up.
Simple Green (diluted, undiluted) is a begining.

When you get to the caustic products, do a test area and rinse very well.

Bar Keepers Freind
Soft Scrub
Toliet Bowl Cleaner
Hull Cleaner

Once the non-skid is clean, treat with Woody Wax.