A foam cleanser that removes even sunscreen well?

Since I apply sunscreen every day, I found myself looking for a foam cleanser that washes it off easily.

There were many products that had good cleansing power but left my skin feeling tight, or conversely, were just gentle but left residue. So I am looking for a product with good cleansing power, but I don't want it to feel too squeaky clean or tight. Please let me know if there is a mild, slightly acidic product that is gentle and effectively removes even waterproof sunscreen. It would be even better if it were suitable for sensitive skin.