When you install a program using a package installer, you should look for official instructions to remove that software again. If you are more experienced, you might also want to have a look at
pkgutil. If you install program by dragging an application bundle into /Applications then it usually suffices to drag it into Trash. What remains are caches, preferences, supporting files, logs and so forth that will not slow down your system (because they are obsolete).
There is no decent program that can help you with this. I generally frown upon such programs, because they can produce false positives and encourage careless user behaviour. I can suggest
Homebrew Cask as an alternative, community-driven software repository. It will download and install software for you. The best part of it is that it will automatically uninstall packages for you based on what they installed in the first place and more and more applications support ‘zapping’ of obsolete application files.