Just like any other painted surface, except use a sponge instead of a big wash brush.
Key is keep a coat of (any) wax on them. A couple shots of spray wax every month or so makes the grime and brake dust come off easily without scrubbing.
I'm also OCD about "half clean" wheels. Id rather they be coated in 2 inches of mud than not clean in the corners and crannies.
The typical all black TB wheels like the pic above are super easy to clean. They were designed with no hard to reach surfaces.
Probably a coincidence, but anyone who's had more intricate wheel patterns, these wheels are super quick to clean.