A manual delete is the way to go, unless a program comes with an uninstaller (oviously, not in this case.)
Best way to find all related files is to use EasyFind, and enter the name of the developer, company or anything else that might be related (google for that.) EF will only find what you tell it to search for, but it will catch everything if you enter the right search terms. Even if a program comes with an uninstaller, since it might not be written to catch everything, I still like to run EF on it afterward.
Set to "Scan all files," "Files and Folders," "Ignore case," "Invisible files." Sometimes, including Package contents is useful.
Some files will be able to be deleted from Destroy or Move to Trash, directly from EF. But if a file stays, open it in "Reveal in Finder" and delete it from there, using your password.
Only caveat in using EF is to be careful not to delete a file that might be shared by another process or application. Watch out, especially, when deleting from /System/Library.