The glossy vinyl decals can be safely cleaned using soapy water.  These prints are laminated with a clear protective film that protect the print underneath it.

It is not recommended to wipe down the anti-slip matte vinyl decal as it may ruin your design.  However, you can use soapy water with LIGHT pressure to wipe away light stains.  Unfortunately, unlike the glossy version, there is no laminated film over this film in order to keep the higher anti-slip certified rating for this material.  Because of this, heavy pressure and abrasion should be avoided when cleaning the decal without first testing a small test area.