I typically use an applicator like this for applying glaze, polish and wax:
I then use a microfiber to remove the residue. Adam's towels are high quality but on the pricey side. I bought some stocktowelsnow.com double plush microfibers that I am pleased with. On the cheaper end, the Meguiar's Supreme Shine microfiber is acceptable (I have a few of them that came in clay and wax kits I purchased).
Be sure you pick up some Griot's Microfiber cleaner solution, too. It does a great job removing wax and other residue and helps keeps your towels in excellent condition.