If you're working out regularly, you shouldn't be too stiff after a workout. The key to preventing stiffness is to just keep working out.
It depends on your intensity. I have been working out regulary for 15 years, and I still get sore at times, particularly legs.
Recovery is part of your workout.
If you are doing an aerobic workout you need to replace your consumed muscle glycogen and its best to do so within 90 minutes of completing your workout.
I try and consume 50-60 grams of liquid carbohydrates shortly after my workouts, either a long ride, run or a race.
Conversely, I try not to consume external calories during a workout unless I am going very long, say over 3-3.5 hours. Anything less and I try to consume only water, and I require a lot.
If your doing an anaerobic workout you have to deal with ATP consumption as well as residual soreness and glycogen consumption as well, but less so. ATP is produced by the body and can't be taken in as a direct replenishment like muscle glycogen can. So on days when I do hard anaerobic workouts...either explosive lifting, sprints or over geared intervals on the bike or sprints or hill work while running, I try and reduce the carbs to 30-40 grams and add some protein to the recovery drink. These workouts arent usually as long as aerobic ones so glycogen loss is less, thus less carbs required for recovery, but there is that muscle breakdown that causes the soreness and so I add a bit of protein (not that I am convinced that it works) to my recovery drink.
If Im very sore I use a muscle rub as well. These days I am liking the Kiehl's stuff, but any of the more mild ones are interchangeable in my mind. Some of the more aggressive ones have burned my skin though.