I use Eastwood's Surethane, it's also an adheasive so it sticks great, and is like rubber when it dries. There are a lot of good products out there though.
I cut the tube so that the bead is about as wide as the seam I'm filling. That way there is no tooling or wiping necessary unless I screw up. If you go with a product that is in a caulking tube, get a good gun that releases automatically. A lot of people hold the gun on an angle ahead of the tip, and cut the tip on an angle. It's hard to get good results that way.
If you cut the tip square, and hold the gun at about a 90 degree angle to the seam, it's much easier to get good results. Doing it that way also pushes the sealer deeper into the seam, instead of just laying it on top of the seam. After a little practice, the days of laying it off with your finger will be gone.
Here's a pic, not the best, but all I had.