Depending on how often you wash you have a couple of options;
1. Weekly wash - at this interval you can use near hot water (you can just put your hand in it) and a spray bottle. Mist the areas where the bug trails are a few times until you can lightly smudge with your finger. Then rinse off, and continue washing your bike. Once you have done this you have now cleaned the chunks off and any light staining should be removed through the shampoo. Once clean, finish off with a good quality synthetic sealant and you are done.
2. Fortnightly - Monthly - Same process as above, but once you have finished cleaning your bike and have applied a synthetic type sealant, you can use a product called VuPlex to add a slippery film on top of your sealant. I have been doing this for years (although I am a weekly washer) and have had very little issue with bug guts.
Cheers,
MoZ