Hello Jan! I use my vacuum with the upholstery brush. A swiffer works good too.
I purchased a microfiber duster that "grabs". It is on a pole that extends from 5' to 12'. It's also great for ceiling fans and trim.
QVC. Here's the set I got. I needed the long extender because we have high ceilings. I've had it 2 years and it has been used and abused but still looks like new. It holds up well to the bending and straightening, which was my big concern.
Vacuumed with a brush
I sweep my ceiling's. I have a broom just for that.
I either use my vacuum or a microfiber cloth on a broom stick.