When I fish lakes with lilypads or other surface vegetation, I like to use a weightless Senko, texas rigged.   I like to lob it on top of the pads and drag it off  slowly.

Rage Recon or Zoom trick worm.

Zoom trick worms,meatheads,ultravibes, and manns jellys,augertails,mannipulators,hanks worms

Fav is a 6" Slither worm.  Followed closely by Culprits and Gatortails.  I'd really rather be throwing a lizard....4" Twister or 6" Power Lizard.

Zoom worms 90%of the time.Loved the old purple/candy purple color untill they discontinued it.Also like creme worms (used these for many years).Color to me depends on the water i am fishing but mostly purples or anything blue.I would rather throw frogs at the lilly pads though.Slowly drag them across the pads and pause in the gaps.Then hang on!

If it weren't for durability issues I don't think I could find better worms than roboworms. Straight tail, fat ones, they have great action and awesome color varieties.

I went fishing yesterday and forgot my soft plastics. Digging through the gear I brought there was a pack of  black Fats Gitzit's . I Texas rigged them just like a plastic worm and wore the fish out. Even used a 1/4th ounce weight . Heck I may have even done better than if I had my favorite baits . 

Yum dingers, Yum sharpshooters, and Havoc bottom hoppers.

Creme

Culprit

Gambler

This part is trivial but say "Soft plastic worm" instead of "rubber worm" .  Now that I got that off my chest, my favorite soft plastic production worm is a tie, it is the 7" Berkley Power Worm and the 5.5" Stanley Sidewinder worm, the Sidewinder is more versatile and the power worm is a fish catcher plain and simple.

I had to chuckle when I read the title.  Waaaaaay back when my Dad first introduced me to the bass fish in the '50's, rubber was all you could get.  They were either black or true nightcrawler colored, straight tailed and you were lucky if you could find ones that floated.They all came from Herter's mail order back then and we rigged them with an Eagle Claw weedless hook with a split shot at the eye.   Ahh the memories.......

Some had three hooks, beads with a prop.

It was 1963 creme worms, natural colors, black, I think purple was before red maybe. Mickey Mantle was playing LF for the Yankees. Old number 7 met him, watched him play.

It feels like a another lifetime.

Producto 6" Tournament worms.  Great for pads!

I used to love the V&M Super Needle in Black Grape, Bubblegum Junebug, and Black. Can't find them anymore. I also used to use the 6 inch Mister Twister Black Grape Phenom worms and can't seem to find those.  In my opinion there are far too many now and it just makes my head spin when I look at the wall of plastics at Gander or Sportsmans....just ridiculous.

 

Yamamoto and Power Worms these days...

Somewhere during this thread it morphed into a list of favorite worms instead of fishing Lilly pads successfully using (rubber) worm question the OP asked, the thread title was misleading.

Tom

My favorite

 

Zoom and Havoc Bottom Hoppers

I use mostly straight tails now, but if we're talking ribbon tail worms, my favorite would be Culprit Original 7.5"

Straight worms (without curly or ribbon tails) can usually get down between the pads better.  Sticky curly tails tend to grab onto the surface of pads too much (a pet peeve of mine) .  Although I haven't tested every product out there, the material in Berkely powerbaits are "slicker" than many other soft plastics and, therefore, don't stick to the pads as much.

Strike King Finesse Worm in Bold Blue Gill.   They look almost like a real night crawler; super soft and it effects their longevity, but they catch fish.