My hard plastic vibrators either get wiped down with a toy wipe or the whole soap/toy cleaner and water thing if they are waterproof. All my silicone, glass and metal dildos are fully sterilized after each use by boiling. If I encounter a dildo that is made of a material that is porous I always use a condom with it and use the soap/toy cleaner method after use.
After cleaning I air dry in a safe place. I store each toy in individual bags so that they do not come into contact with each other or anything else.
Before using again I wipe them down with a wipe to remove any lint, hair etc that they might have picked up.