You can get club cleaners which are tools with two brushes, nylon bristles and wire bristles. The nylon is for woods, and the wire is for irons and wedges. All you need to do is get some water and then wipe over it with the brush.
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Simply use a groove cleaner or a tee to remove any dirt from the grooves and then wipe the face and sole with a wet towel.
To stop them for rusting and it is very important to keep the face clean and the grooves clean so you can get good contact which will help you spin the ball.
You can wipe them with a wet towel or just with a stiff bristle brush and water, which is good for getting dirt out of the groove. You could use a mild soap but it is not really needed.