Toys can be cleaned in a few ways, depending on the level of sanitation needed.
For an everyday clean, use a mild antibacterial soap on your toy and work it into all crevices of the toy.
For a full sanitation, submerge toy in boiling water for several minutes. Note that if you have toy that utilizes Near Clear silicone, this might discolor it.
Alternatively, you can put toys in a 10% bleach and water solution for 5-10 minutes. Do not boil bleach.