I have cut a tool (handle and a flat tip, like a screw driver) from hard rubber; I wrap the cloth from Eclipse over it, dunk it in 99% isopropanol and swipe/scrub the sensor with it. This combination can not cause any damage, but it is firm enough; at least, no dirt withstand it in the past years.
I cut the hard rubber tool from a leftover piece of elastic baseboard. It can be cut, sawn, filed, chewed, etc. to the size and shape one prefers.
The most difficult part in my experience is never to touch anything with bare fingers, paticularly not the cloth. I wear cotton gloves reserved for this purpose.