Roland does not recommend any particular cleaning product for the pads since there is uncertainty regarding the long-term effects of using cleaning products. Most of the time, a "very mild dish soap and warm water solution" with a lightly damp terry-cloth towel does the trick.
Never use any harsh cleaning products. If you *must* use something, make sure it states that it is safe for all types of rubber or plastic surfaces.
The mesh heads can be removed from the V-drum shell and cleaned with the same type of solution as mentioned above. Make sure they are rinsed thoroughly and completely dry before re-installing them.