I clean the exteriors (plastic, rubber, etc - not glass) of my gear with Clorox wipes. I have never had an issue and all of my grips look pristine and dark.
What I do is use the wipe over the outside, in one motion, then flip it over and use the other side to lightly brush at the grip. I dont like to use the same side or same wipe more than once, that way Im not scratching the dust/dirt around.
I follow up by wiping away any excess moisture that was left with a "blue dust free" paper towel. If left to dry, the moisture sometimes leaves water marks. The same would be said for real water not wiped away. Just like when you wash your car and if you dont dry it, you get spots.
Using the wipes is important to me because I am a pretty big germ freak and I like to take my camera with me everywhere. So not only is it cleaning my gear, but its disinfecting too. Ill note that Ive tried the Lysol brand wipes but they tend to leave some dust from the cloth the wipe is made out of. So I stick to Clorox.
I dont use the wipes on any glass parts. For that I use a blue paper towel wetted with bottled water. Then lightly dry with a clean blue paper towel.
Here are pics of one of my lenses, it is a few years old and has been cleaned since day1 how I described above. Sorry the pics arent that great, but you get the idea. 

