Nested ifs are my preference:

  bool function_with_cleanup(void) {
      int *buffer1 = NULL;
      int *buffer2 = NULL;
      FILE *file = NULL;
      bool success = false;
  
      // Allocate first resource
      buffer1 = malloc(sizeof(int) * 100);
      if (buffer1) {
          // Allocate second resource
          buffer2 = malloc(sizeof(int) * 200);
          if (buffer2) {
              // Open a file
              file = fopen("data.txt", "r");
              if (file) {
                  // Do work with all resources...
                  fclose(file);
                  success = true;  // Only set to true if everything succeeded
              }
              free(buffer2);
          }
          free(buffer1);
      }
  
      return success;
  }

Much shorter and more straightforward.

One-time loops with break also work if you're not doing the resource allocation in another loop:

  bool function_with_cleanup(void) {
      int *buffer1 = NULL;
      int *buffer2 = NULL;
      FILE *file = NULL;
      bool success = false;
  
      do { // One-time loop to break out of on error
          // Allocate first resource
          buffer1 = malloc(sizeof(int) * 100);
          if (!buffer1) {
              break;  // Error, jump to cleanup
          }
  
          // Allocate second resource
          buffer2 = malloc(sizeof(int) * 200);
          if (!buffer2) {
              break;  // Error, jump to cleanup
          }
  
          // Open a file
          file = fopen("data.txt", "r");
          if (!file) {
              break;  // Error, jump to cleanup
          }
  
          // Do work with all resources...
  
          success = true;  // Only set to true if everything succeeded
      } while(false);
  
      // Free resources in reverse order of acquisition
      if (file) fclose(file);
      free(buffer2);  // free() is safe on NULL pointers
      free(buffer1);
  
      return success;
  }

Still simpler to follow than goto IMHO. Both these patterns work in other languages without goto too, e.g. Python.