Have you tried vacuuming them with the brush attachment?
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Vacuum with the soft brush attachment, if they are still needing more cleaning, use a mild soap in water, start with an inconspicuous spot to see how it turns out, continue from there if no problems.
I think the only way is to vacuum to get all the dust out. You could try a microfiber cloth or some upholstery cleaner.
Check with the manufacturer for the safest method.