I use one of the directional tank sprayers. Of course that will depend on where your sensors are in comparison to the toilet (straight down toilet only and it won't work with curved toilet drain pipe). Just point it toward the sensors and work it around. You can spray the walls in addition to the sensors. I also use 5 gallons of water and a good bit of Dawn before traveling to clean the inside of the tanks. Once or twice a year I'll use Calgon water softener (NOT Calgon bath oil) in the tanks (makes them slick so "stuff" won't stick to the walls.
One of these: