I have a tub in the kitchen that I rinse off dishes as the kids are done with them and then at nap time- like now I just put them in the dishwasher. I do most of my prep work the night before in the fridge and prepare the night before.
I don't find my kitchen messy doing this...as for the floor. I have a hand vac and I keep out for quick pick up after snack and lunch-best investment!