I'm no expert, but I just wipe the body of my camera off occasionally with a microfiber cloth if it gets any dust on it. I've not had too much problem with dust on my sensor but I have used the rocket blower to blow dust off it once. I haven't messed with the sensor any more. I don't think you should clean the sensor unless there's an actual problem with it.
The lenses are the same way, I think. I might wipe the outside off with a microfiber cloth. I have a special extra soft MF cloth to use on the lens glass, if necessary. Typically, though, I just blow with the rocket blower to remove dust. If in the rare case I get a smudge on the lens glass, I will blow my breath on it to get a little condensation, and then use my extra soft cloth to wipe the glass.
I'm sure others will chime in! I look forward to their responses.
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