I recommend using a toy cleaner. Many of the best sex toy companies make and sell a toy cleaner. Some are sprays, some are foams, some are wipes — figure out what’s easiest for you to use and go for it! You can also use SUPER gentle unscented soap (I don’t recommend this as a first option because a lot of soaps have hidden ingredients that can mess up your vagina’s pH). PS - if your toy is glass or stainless steel — it can most likely be boiled.
Check the toy’s instructions for more info.