The National Institute of Health (NIH) recommends that you clean your ears only if there is an excess buildup of earwax. The NIH's recommended technique for cleaning ears is to use mineral oil or baby oil to soften the earwax. This will allow the earwax to work itself out on its own.
If this doesn't remove the plug, the NIH recommends using body temperature water and an ear syringe to gently push out wax that has been softened with oil. Angle the syringe towards the ear canal wall so as not to damage the eardrum.
Once you drain the water, the agency advocates using a few drops of rubbing alcohol to dry the remaining water in the ear canal. The NIH also says the methods represented in the article will work as well (Using hydrogen peroxide).