Do the same thing you would for any high-end optical equipment: Blow debris off the lens surface (either using compressed air or a small air bladder like the Rocket Air by Giottos, making sure to point the optic so that the debris can fall down off and away from the lens), then use the brush on a LensPen, followed by the cleaning tip. Follow those steps closely, and you won't have a problem with lens scratching. Use your T-shirt to wipe the lens a few times, and you will be looking for new lenses if you're picky about optical quality.
Edit: The Rocket Air is just what I use, mostly because, well, it looks like a rocket. There are much cheaper alternatives out there