Remove pads and straps as long as possible, while taking note of how they were threaded.. Hand wash with mild detergent, rinse well. Allow to dry, reassemble. If straps don't come out they can be washed in place just not so thoroughly. I usually stick the straps and pads in a sock, and send it through the washing machine at setting warm.
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To clean a helmet you can just dampen a rag or paper towel and wipe off the helmet. You can also use mild soap if necessary. If you want to get in all the little grooves, you can use a sponge and scrub at it.
You can just wet a paper towel or rag with water and rub off the dirt. You can use mild soap if necessary. If you want your helmet very clean you can even use a sponge and srub the helmet.