I use this stuff by eos that is a "shaving cream" but it looks like hand lotion, its very thick and moisturizing AND - I have my SO do it, even when I am not pregnant. For some reason he is way better at it and I tend to get fewer bumps.
My best experience has been Nair, though.
I also don't shave it bare all the time, a lot of times its just very trimmed and neat with a beard trimmer - I think I look weird bald.......