My method is to use tissues (one per wipe, then use other side, then throw away) plus de-ionised water, plus isopropyl alcohol. I alternate the alcohol washing stage and the water washing stage, going through a few cycles.
The main points I’d emphasise are being gentle, only doing a small arc each time, then lifting the tissue, and not rubbing in circles.
Also, don’t try to get it perfect. They’ll always be streaks. I do it maybe every couple of years, but my location is very dirty, with many diesel vehicles nearby.