I will chime in, although it appears that the topic is covered.
As Andy mentioned, try not to change your lenses in a dusty environment. On my first trip to DVNP, Ranger Bob Greenburg gave me that advice, and it is spot on. BTW, Bob has now retired and is volunteering at the park. He is a good guy to talk to about where and when to get a photo.
When I need to clean my sensors, an appropriate sized swab with sensor cleaning fluid (alcohol) is all that I use. Just be careful that you don't pull dirt/grease/oil from other areas around the sensor, on to the sensor. It usually takes me two swabs to get the sensor clean, sometimes three. If you have a loupe or triplet, that is a handy tool to inspect things when there is a problem area. As Andy mentioned, remember that things are 180º out in both axis. I think most folks know you're not cleaning the sensor itself. There are usually low pass and anti aliasing types of elements covering the sensor. But, do be careful.
I tend to not believe much of what Ken Rockwell says, as I have observed him flip flop like a politician. Thom Hogan and Moose Peterson are the two that I put more faith in. Moose has a good tutorial on "Cleaning da Gear". If I can find it, I will edit and post to the thread.
Mr. 3Pin, thanks for posting the question. It's a 'good un'!
Edit: Here's a newer
Moose Peterson cleaning tutorial. Warning, he is pushing a product, but it looks like good gear.