Before modern soap, the ancient Greeks cleaned themselves by rubbing on some olive oil and then scraping it off (and all the gack with it) with a special tool called a strigil.
http://www.wisegeek.com/what-is-a-strigil.htm
Also, even better, “English cleric John of Wallingford, prior of St. Fridswides, ...complained bitterly that the Viking Age men of the Danelaw combed their hair, took a bath on Saturday, and changed their woolen garments frequently, and that they performed these un-Christian and heathen acts in an attempt to seduce high-born English women.”
http://vikinganswerlady.com/hairstyl.shtml
Nowadays, people are used to the clean-smelling, deodorized masses because, on the most part, we bathe frequently as a society and the odd-out person is the stinky one. With everyone so clean, it has lowered our tolerance for human, uh, “natural aroma.” Back when people didn’t wash so much, “human aroma” was the normal baseline you would expect from people, so it would take a REALLY STINKY person to register as “offensive” to most people – and the Viking who bathed once a week had an “unChristian advantage” with the ladies. ;)
That said, sometimes even a little aroma wasn’t seen as a bad thing back then, as much as it is now. In France, armpits were once known as “spice boxes.” Napoleon is famous for writing to his wife Josephine, “J’arrive. Ne te lave pas. [I’ll be home soon. Don’t wash.]”
Clean, and stink, appear to be relative. If we went back in time, we might find those people “ripe,” but I’m not sure they thought of each other that way.