Several of the newer HE washers tell you when it's time for a clean-up. And yes, a problem with front loaders is having to clean the front gaskets or seals, since these are always wet. But top HE washers don't have these seals, and can be had with tubs that are a lot larger in size than front loaders. Also, the Maytag washer i have mentioned several times, turns a light ON to tell you when to clean it. In this case, you can use one of numerous cleaning solutions available at the local store (pour the stuff in the tub, close the lid, and press "Clean"). Otherwise you can just clean it with liquid bleach (I don't know how much to use, since my wife takes care of that). She is the expert
Consumer Reports has a long list of reviews of most washers and dryers, but you have to pay to read the reviews at their website. There are a few reviews floating around, but i have no idea of how reliable these are:
http://www.consumersearch.com/washing-machine-reviews