By far the best way to remove silicone sealant is when the product is still wet. Whilst it is still in its curing phase and before it has formed a skin, excess or incorrectly applied silicone is best removed just using a dry paper towel.
Certain cloth cleaners can also be used but remember to use them dry. The friction of a wet towel (especially a paper-based one) will remove uncured silicone better than a wet cloth which will tend to smear it. Whilst the silicone is still wet you do not need to use any other cleaning liquids.