Fleshlights own guide describes cleaning in nine steps, and the principles apply to most manual masturbators with a skin-like sleeve:
Remove the sleeve from the casing. Rinse it under running lukewarm water for about 30 seconds. Hold one opening closed, fill the sleeve with water, hold the other opening closed, and shake for 5 to 10 seconds. Rinse again.
Use soap only on the hard outer casing, never on the sleeve. Fleshlight instead recommends its antibacterial spray. Never turn the sleeve inside out—according to the manufacturer, this can create micro-cracks that become a breeding ground for mold.
Motorized masturbators are cleaned according to their ingress protection rating. Arcwave Ion 2 has a sleeve that screws off the unit, and both the sleeve and the unit are IPX7: rinse both parts in warm water, use cleaning products for intimate products, and dry with a lint-free cloth. Arcwave forbids boiling and dishwashers and specifies a maximum of 45 degrees. For Satisfyer Men Heat Vibration, the insert is not described as removable, so the tunnel is rinsed through in place.