After cleaning a toy after using, the next time I use it, I usually wipe them down with a wipe first, just for peace of mind, and I use warm water with liquid antibacterial soap to clean them off afterwards.
Sometimes just wipes, sometimes soap and water. Things usually get cleaned both after use and before use, so if it just got a wipe after the last time, it's likely to get a sink job the next time. This applies only to glass, metal, and silicone, though. Anything else gets taken to the sink or it doesn't get used. And everything sees toy cleaner spray on a fairly regular basis, just to be sure. I'm a bit of a clean freak anyway, let alone for toys.