There are other household items that could work, too.
Cult of Mac suggests a bunch of common accessories that could be used for cleaning your AirPods' mesh speakers, including a lock-pick tool, a SIM removal tool (pictured above), one side of a pair of tweezers, or a small flat-head screwdriver.
Now, moving on to the AirPods case...
Even though the AirPods charging case doesn't come into contact with your ears, mine somehow accumulates more dirt, grime, and earwax than both of my AirPods combined. Apple suggests wiping down the case with a microfiber cloth and dampening it with 70% isopropyl alcohol, which can easily be found at drugstores like CVS Pharmacy and Walgreens as well as on Amazon.
Again, just make sure no liquid gets in the charging ports.
If you need to remove dirt or debris from the Lightning connector, use a clean and dry soft-bristled brush.
Apple advises against putting anything into the charging ports inside the case to avoid damaging the metal contacts that power up your AirPods.
I alternated between using a Q-tip and a toothbrush to scrub away persistent grime and debris.
Since the bristles on a toothbrush are designed to clean the nooks and crannies of your teeth, I found this to be a particularly useful tool for getting the crud out of the corners and edges of my AirPods case. I dipped the Q-tip and toothbrush in 70% isopropyl alcohol when scrubbing to speed up the process.
Be very careful not to get any moisture or liquid into the charging contacts inside the case or the Lightning port when doing so.