Clean Menu

Im having trouble getting wordpress to produce a clean HTML menu, i keep getting the following format

<ul id="menu-main-menu" class=""><li id="menu-item-20" class="menu-item menu-item-type-post_type menu-item-object-page current-menu-item page_item page-item-18 current_page_item menu-item-20"><a title="Mens Designer Underwear | Ladsrack.com" href="http://localhost/ladsrack/">Home</a></li>
<li id="menu-item-14" class="menu-item menu-item-type-post_type menu-item-object-page menu-item-14"><a title="Designer Underwear" href="http://localhost/ladsrack/underwear/">Underwear</a>
<ul class="sub-menu">
	<li id="menu-item-39" class="menu-item menu-item-type-post_type menu-item-object-page menu-item-39"><a title="Designer Briefs" href="http://localhost/ladsrack/underwear/briefs/">Mens Briefs</a></li>
	<li id="menu-item-15" class="menu-item menu-item-type-post_type menu-item-object-page menu-item-15"><a href="http://localhost/ladsrack/underwear/your-account/">Your Account</a></li>
	<li id="menu-item-16" class="menu-item menu-item-type-post_type menu-item-object-page menu-item-16"><a href="http://localhost/ladsrack/underwear/transaction-results/">Transaction Results</a></li>
	<li id="menu-item-17" class="menu-item menu-item-type-post_type menu-item-object-page menu-item-17"><a href="http://localhost/ladsrack/underwear/checkout/">Checkout</a></li>
</ul>
</li>
<li id="menu-item-135" class="menu-item menu-item-type-post_type menu-item-object-page menu-item-135"><a title="Get In Touch With Us" href="http://localhost/ladsrack/contact-us/">Contact Us</a></li>
</ul>

Is it possible just to produce

<ul>
<li>menu</li>
<li>menu</li>
</ul>

without all the class and ID attatched?