In general I use a SensorBrush [now the Arctic Butterfly, much more convenient]. If wet cleaning is needed - for those sticky residues - I use 99.9% ethanol [isopropanol will work, too], a plastic or wooden spatula wrapped with a lent-free lens cleaning paper. Don't get the paper too wet, leave a little room when wrapping the paper on the spatula.
Last week I saw a Nikon technician clean the sensor array filters of my cameras. He used the same kind of lens cleaning paper, wrapped around a small pair of tweezers, wet with a clear alcohol. He also set the cameras just to bulb and released the shutter ...