I use a little SOAPY dish water because the soap leaves a little 'film' between your finger and the caulk. Using plain water seems to create 'balls' of caulk for me. Just a few drops of soap in a small container will do nicely. Make a few bubbles to be sure you have enough. Then, as the others said, run your finger down the caulk to smoothe it out and wipe the excess off onto a paper towel or rag. I say do it often, and re-dip into the water-soap solution each time.
My best to ya and hope this helps.
PS: There is a 'smoothing tool' you can buy but I like how you can 'feel' your work when you use your finger ...