I've got to agree on using a good quality cream or soap, and a brush. in all honesty, it doesn't really take much more time than just spraying stuff from a can and rubbing it on.
When you're showering, let your brush soak for a few minutes, then when you're ready to shave you shake the excess liquid off your brush, swirl it on your soap for 20 seconds, and apply to your head. With cream, it's even easier, just squirt a bit of cream into the end of the wet brush and apply to your head.
The difference in the quality, feel, and skin care of a good cream or soap more than makes up for the extra 30 seconds or so it takes to prepare. And shaving this way has made shaving my head and face something I look forward to, rather than a chore I just have to do!