I don't think there really any good way. Stuff stick to them and that's whats causing the miss-readings. I have found the best way to keep them working is to dump all your tanks completely. Then add a 3-5 gallons of water and a bit of Dawn Dishwashing liquid (stronger is OK). Then take it for a good drive, or travel to your next destination.
The sloshing of water will pound against the sensors beating off anything that's stuck to them. The Dawn will help clean the tank and the sensor too.
Beyond this, there's really not much else that can be done. You can try different chemicals in your tank, but it's the sloshing while on the road that works the best.