Take a look at the Lens Pen. I carry one in each of my camera bags.....just in case.

For general cleaning, I use a Giotto blower, lens brush, then the Lens Pen. As for a cloth...yes, use a microfiber cloth...GENTLY! You don't have to press hard with a cloth. And NEVER spray any cleaning fluids on the lens/filter directly! Spray the cloth, then the lens/filter.