Assuming the beamsplitter is coated glass, my standard cleaning procedure should work:
First, wear latex gloves so you don't re-contaminate the surface. I use "Sparkle" brand glass cleaner- the purple, not the red:
http://www.bestcleaningproducts.com/shop/product.asp_Q_prodID_E_3756
and use Q-tips or a lint-free wipe (I use Kimwipes). Wet the Q-tip/Kimwipe with the sparkle and gently rub the beamsplitter until the entire surface is wet. Then use a clean and dry q-tip/Kimwipe to remove the sparkle from the glass. Wipe in a figure-8 pattern, *never* rub dry cloth onto a dry glass surface.
For stubborn residues, you can use xylene, acetone, or 70% EtOH in distilled water. Xylene works the best, but can dissolve cements and otherwise damage optical components.
This is only for bare/coated glass: modern coatings are hard and can hold up to this cleaning procedure. Delicate optics (diffraction gratings, CCD windows, etc) should not be touched with anything- there are other methods to clean those components.