Most cleaning advice for intimate products is either too vague to act on or lifted from somewhere that doesn't apply. Boiling is excellent guidance for a solid silicone product and will destroy a motorised one. The method depends on two things: what it's made of, and whether it can go near water.
Start with the water rating
Before anything else, find the IP rating. It determines how the product can be washed, and getting this wrong is the single most common way people ruin something.
A product rated IPX7 can be held under running water and submerged. A product rated IPX6 or IP56 can be rinsed under a tap but not put in a basin of water. Anything rated IPX4, or with no rating published at all, should be wiped rather than rinsed.
If you don't know the rating, treat it as wipe-only. Assuming less is recoverable; assuming more usually isn't.
Silicone
Silicone is non-porous, which makes it the most forgiving material to care for. Nothing penetrates the surface, so cleaning genuinely returns it to clean rather than approximately clean.
Warm water and a mild unscented soap, worked over the whole surface including any seams or ridges where residue collects. Rinse thoroughly — soap left on silicone is a far more common cause of irritation than the material itself. Dry with a lint-free cloth or leave to air dry fully.
Solid silicone with no electronics can also be boiled for three minutes, or run through a dishwasher on the top rack without detergent. Neither is necessary for personal use, and neither applies to anything with a motor.
TPE
TPE is microporous, so the goal shifts. You cannot sterilise it, and the aim is to remove everything you can and then get it completely dry before anything has a chance to grow.
Warm water and mild unscented soap, flushing through thoroughly if it's a sleeve. Rinse until the water runs clear. Then dry properly — this is the step that matters most and the one people skip. Pat what you can reach, then leave it open to air, ideally propped so air circulates through rather than sitting in a folded pocket. Some people use a fan or a low cool setting on a hairdryer to speed this up. Do not use heat.
Renewing powder is optional. Cornflour dusted lightly over a fully dry surface restores the matte finish and reduces tack. It's cosmetic rather than hygienic, and it only works on something already dry.
Anything with a motor
Rechargeable products need the same soap-and-water approach, adjusted for the water rating and with one addition: the charging port.
Keep water away from it, and if there's a cover, make sure it's fully seated before you start. Afterwards, check the port is dry before charging. Water sitting in a charging contact corrodes it regardless of how well the housing is sealed, and it's the most common failure point on an otherwise well-made product.
For a magnetic charging contact, a dry cloth over the pins is enough. For anything recessed, give it time rather than poking at it.