There is a general fear of damaging the sensor in cleaning but be assured that it is not as fragile as many assume. The surface hardness of the filter which is on top of the sensor, has a hardness value a bit higher than window glass. It is more rugged than lens glass, not because lenses are less hard, it is actually very hard, but modern lenses have coatings that can be damaged by careless cleaning.
The first step is usually to use the internal shaker, that vibrates the sensor to knock off loose dust. I find that not to be very effective but for dry dust it works. Then try blowing it off with a blower such as bulb style hand blowers like the popular Rocket Blower. That is more effective and perfectly safe. A wet cleaning is the next step if the first steps do not take care of it. Wet cleaning is what many are afraid of but there is little risk. The most common problem was not thorough enough so streaks are left which means doing it again. There are commercial kits with special wiper tools and cleaning fluid available at any camera store. There are many good videos on Youtube Here is the first one I found just now
https://www.youtube.com/watch?v=FEQuFvTGP04
Good luck