+1 on the 3M Headlight restoration kit for headlights that look like soap scummed bathroom glass. I use Meguiars Clear Plastic Polish, afterwards to bring out the clarity, use as a semi sealant and stay ahead of the game to maintain them. Another thing, if you have any Flitz laying around, this works really well and quickly for getting out the "early to mild stages" of headlight cataracts.
I have done 4 sets of headlights with the 3M / Meguiars combo and have been very pleased. The only thing, as previous posters have stated, if you do not keep up the maintenance they will turn cloudy again in a few months. Or, if the wife decides to go through your cabinet and use carb cleaner to remove the tar off the vehicle and then washes it onto the headlights, the 3M kit will only do the job.