After 11 years of monkeying around with our kitchen towel & wash cloth, I finally came up with this idea and implemented it with Irene's approval. We both think it's the best solution for us. We considered mounting this towel bar on the lower cabinet door as it had been intended for, but given our no-slide quarters, we both felt it would be in our way there.
This is what we bought.

We bought it at Bed Bath & Beyond for $9.99 plus sales tax.

I modified it, cutting off the hook portions and drilled holes.

I screwed it first into the side, then into the top for a very nice tight fit.

Here it is mounted.
A single bar version is sold for $7.99, but I do "Not" recommend it for this application.
This two-bar version sticks out nice and far for ease of use, yet not in our way getting in and out from our PC.

Here are 3 pictures with towel and wash cloth. They hang beyond the main door opening as not to interfere getting in and out of the house..


The towel and wash cloth hang right where they are needed, yet hang forward enough as not to be in your face.
