I remember using a special cloth made and sold by leica years ago, alas I lost it, it costed a small fortune if one looks at such accessories now.
I usually resort to some small drops of distilled water on lens cleaning tissues, the tissues after wetting are used as sponges, leaving delicately some distilled water on the surface without pressuring directly with my fingers.
Then i remove the excess water with dry tissues, almost without pressuring.
In case of old lenses with some finger grease or worst I use isopropyl alcohol applied in the same way.
this alcohol tends sometimes to leave some halo that can be removed with distilled water as above.
With very dirty lenses this method is still partially successful, since grease and soot are not completely removed until many passes have been performed.