First, you must wipe down the outside of your AirPods with a lint-free cloth. You can also use the cotton swab to wipe the mesh parts of the AirPods.
Take your cotton swab, toothpick, needle, or any fine-toothed item you can use to get into the tiny spots.
Remove the caps and rinse them in water. To remove the caps, you must pull firmly on the silicone piece, which will come off.
If you have stubborn spots, you can use a little alcohol to spot clean. But be careful not to get any liquid into the charging ports for the case or the earbuds inside.