All I've ever done is breath on the lens to get a nice mist and gently wipe with a soft cloth. Repeat as necessary.
If you use lens cleaning solution, don't use it directly, it's far too strong, apply to the cloth sparingly and then to the lens.
If you get a fingerprint on your lens, deal with it straight away. Fingerprints are basically just sweat, and in some people, it contain acids strong enough to rust metal. It will make short work of etching a permanent print pattern into your lens coating.