Nancy - they aren't subsidised directly, but the rents are typically far lower than the standard rent for a similar property locally.
Other advantages are tenancies are for life basically, not the standard 6 months of private rental market - it's safe and secure, no having to move every years or so at landlord whims. Councils often maintain the properties and communal areas of flats to a higher standard than landlords at the bottom end of the rental market.
For a long time, housing benefit was paid directly to landlords, including council properties, so while there were various bits of paperwork, if you never earned enough to stop being able to claim hb, then it was in effect a free house.
There are council waiting lists, it used to be (until the 70s I believe) more of a "first come, first served" list, but then it moved to those in most need. Anyone, including Richard Branson, is entitled to go on the waiting list for their area, but as properties are allocated based on need and in many areas there are a shortage, only those most in need will get one (and if you are "most in need" there's a good chance you'll be entitled to housing benefit).
The reason you occasionally find wealthy people living in council properties is that they got the property when their situation was much worse, then the secure tenancy means they can't be thrown out because they aren't the most in need anymore.