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For everyday maintenance, I use a Rodgers pipe knife, but if I have an estate pipe I'm restoring with a lot of cake I'll use an adjustable reamer. I do have a reamer set like the one shown above with multiple heads but you have to hope that one of the head sizes fits the pipe and that's not always the case. With the Senior pipe reamer, you can adjust the size to fit and ream away and it comes with a drill bit for reaming out the shank / airway of the pipe too which is handy.

https://www.smokingpipes.com/accessories/pipe-tampers-and-tools/moreinfo.cfm?product_id=4392

If you soak the inside of the bowl of the pipe with salt and alcohol or cotton balls and alcohol, plugging the shank with a pipe cleaner to avoid getting alcohol on the outside finish of the pipe which it will ruin, then it'll soften up the cake and make it easier to remove.

Looks like Amazon has better prices. Be careful not to cut yourself on the blades of the reamer, though.

I used a variable speed Dremel with a sand paper attachment on the lowest setting to knock down the worst on one. Then used folded sandpaper from there.

I use an old Rogers pipe knife. Seems less likely to do damage. Cleaned a Kaywoodie you couldn't get a little finger in to the wood. Smoking WCC Persian Slipper in a Dr Grabow.