I use a lens pen brush to first wipe away the debris. Then use a Zeiss lens cloth to clean the glass. Then I use the other side of the lens pen with the felt to polish the edges.
I use Q-tips dipped in alcohol to gently clean the lenses, then dry q-tips to dry off the alcohol before it evaporates. haven't had any issues with abrasions, and I use it on several optics worth over $1000 each