Yes, you can clean them in this manner. But first, use a blower brush to remove any loose particles that may be on the lens. You can buy the blowers at most camera supply stores.
Sand can be a real problem and the blowers are made to address that issue. The cleaning cloths made for eyeglasses arealso safe for the glass on camera lenses. Attached is a thread on a Pentax forum that covers this question.It discusses the use of the packs of alcohol premoistened wipes that can be bought cheaply at Walgreens.
There are several sites on the web that confirm this usage.
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