S.,
Kudos for wanting to go this route. It can require a lot of research to figure out what you want to use, but it's worth it. We have used cloth diapers for 2 years and found them far superior to disposables.
I'd recommend inserts ("doublers") for 6 months on and definitely when they are older. They can almost double the absorbency of the diaper (especially helpful at night). They also help in cleaning out messes--just remove and clean insert instead of whole diaper.
There are 3 kinds of diapers: Chinese prefolds, contours (these may have gathers and snaps and look like a disposable), and pockets (easiest for babysitters to handle, great for overnight: a cloth diaper on inside and plastic cover on outside sewn together, with room for a double inside the pocket between them). Unless you are using pockets (quite expensive), you will need diaper covers. Not all covers are compatible with all diapers. The cover is the best part of the system, in the sense that it prevents leaks that many disposables don't.
My husband didn't want to deal with diaper oragami and pins, so we didn't do prefolds (though those are cheapest). We chose contoured diapers with gathers and snaps (for durability).
I don't know if it's realistic to use one set from birth to toilet training, because the nature of the diapers is very different. Breastfed poo is challenging to contain for some cloth diaper systems; once they are older the bigger challenge is absorbing all the liquid. We used Kissiluvs for the first 6 months--the best at preventing breastfeed-only poo leaks. Then we switched over to Sandy's Diaper by Motherease (out of Canada) for absorbency. They have a couple of lines of one-size-fits all diapers. The Sandy's Diaper is the most absorbent on the market, and with the Rikki Wrap cover, leaks are basically nonexistent. We ended up using a smaller size and a larger size of the Sandy's. But the diapers are still in good condition for our next baby. I'm probably going to get some new covers, though--ours are thrashed (and we had ~4 per size).
I have loved my cloth wipes. We have some furry terry ones by Kissiluvs for messy diapers, and some plain cotton/hemp ones for wet diapers. The hemp ones have worn like iron--360 washes before they started getting holes. We use the worn out ones to dry her off before putting on a new diaper. My husband and I agree that she gets way cleaner with cloth wipes than with disposable ones. When we travel, I miss my wipes.
Another tip is to get some rice paper liners (like see-through paper towels) to use when your baby gets a rash or diaper rash. The liner keeps the cream off the diaper. You wipe the cream off with a disposable wipe, and flush the liner.
We have a Brabantia diaper pail in the bathroom, and I use rubber gloves. I have loved my Mother of Eden diaper pail liner, but I'm having problems getting it replaced. We use a smaller version to put messy diapers in when we're away from home.
Also, if you're into being prepared for loss of power or other emergencies, get a camp washer (less than $50), clothespins, and have extra detergent on hand. Then, even in an emergency without power, you can still do diapers for your child. (I was horrified at what some of the kids went through during Katrina.) They're easy to use and don't require power. We also like to keep about a 2-week supply of disposables on hand (we use those when we leave her with sitters or if we are sick).