I think that there are lots of good ideas here, and most are just fine. I used crates of kim wipes before I retired, I always thought of them as abrasive.
I am perfectly happy with the little eyeglass cleaning kits that Costco sells. they have a non abrasive cleaning fluid that is safe even on coated plastic lenses, and include two micro fiber cloths which are great for a final polish. I use a tissue that is wetted with the solution to clean the lens, then polish it with the microfiber cloth to clear up any remaining moisture.
The big issue is to avoid using chemicals or gritty cleaners, and to avoid spraying liquid on the lens where it just might run inside and make things worse. If I get a old lens that is really dirty, I might have to use a qtip at the edges to get grime out. Even with extremely dirty lenses, I've never scratched one, but have seen a couple gouged by a lens cap that fell off and had its way with the coating.