The Bialetti Moka Express is the easiest way to make good espresso at home. I bought one when trying to curb my spending at local coffee shops, after hearing about their prevalence in Italy. It is a stovetop coffee maker, with a lower boiler that forces steam through the coffee grounds under pressure.
It is very easy to rinse clean. There is a slight greasy coffee residue on the metal of the upper pot once it has been used, but this does not need to be cleaned away unless the pot will be stored unused for a while. The rubber gasket periodically needs replacing; this is inexpensive and simple to do.
The only downside I have found is that the handle can heat up while brewing.
This pot gets used daily in our house, and my lattes finally taste like those at the cafe.