The 'wet method' works for me and has for the past four years through five DSLR bodies. A very good tutorial can be found at
Another good tutorial:
Some folks really like VISIBLE DUST products, but they are pricey-
NOTE: Thoroughly read the tutorials and understand what you are about to do before beginning. The camera manufacturer will show you no love what-so-ever if you ruin your sensor. They really don't want you touching it. Realistically, there is an anti-aliasing filter over the sensor, but, you can scratch this if you apply too much pressure, re-use a contaminated cleaning pad, etc.
YOU CLEAN YOUR SENSOR AT YOUR OWN RISK
Having stated that, I have done this literally hundreds of times, at home and in the field. Just use your head.