Old toothbrush and some gentle soap and water? That seems to work for most shoes, but not sure why cycling shoes would be different.
Drying shoes can be tricky, although i presume that's easier with cycling shoes than with running shoes. but if you need to dry shoes, putting them in front of a refrigerator blower (usually at the bottom in front on US fridges) can provide a constant low heat source (but can also make your kitchen stink if your shoes stink).