Use some soap and water - some liquid soap (dish soap is fine), and a cloth. You don't need a ton of water - moisten the cloth, not dripping wet. Wring it out before you wipe. Not a lot of soap, either.
Then wipe. You shouldn't need too much pressure to clean. The silkscreen lettering requires a bit of force to remove, so as long as you're not trying to rub it out, it should withstand the wipe down just fine.
You just need light pressure - basically just enough to move the cloth around without it slipping away.