For my shave prep I wash my face with soap and warm water, and then splash plenty of hot water, for up to about a minute, before lathering up. I think this provides the same effect as using a hot towel. And it doesn't get you a dirty towel.
This is exactly what I do. Except, be careful of too hot water - too hot and you might actually irritate the skin. One other thing - I try to work the water into the beard by making circular rubbing motions - its what I've seen barbers do. Not sure what it does to the hair, maybe breaks up the hair shaft and makes it more pliable, or something..