Once the mud is dry I use a hard brush to get the chunks off.. any manure stains come off real nice with cowboy magic (you should be able to get this at most feed/tack shops) Just let it sit on there for a minute or two.

For the hooves.. get one of the real nice hoof picks, not the ones with the thin little handle, the cunky ones help you have more leverage so you can get the chunks out from around the frog.