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1. isopropyl aka rubbing alcohol
2. lens cleaning paper also known as lens tissues
3. an old credit card, business card or some other flat piece of plastic.
Firstly, research the size of your sensor. Cut the credit card to one of the lengths you researched. Soak a piece of lens paper in rubbing alcohol. Wrap it around the plastic piece. Wipe the sensor gently. Then move the tissue a few milimeters up the piece of plastic and wipe it again. Repeat untill you're satisfied.
The art of cleaning with optical paper is in using it once. Once it catches some dirt it shouldn't touch anything again.