With the window rolled down,
Step 1:
First start by removing the door panel. Once you have the panel unscrewed and popped off, you have to pop off a small plastic piece that by the mirror. Then just lift the panel up, and it should come off. You can leave the wires for the switches plugged in, and just let the panel hang.
Step 2:
Once the panel is off you will see the two inside pads and their brackets. There is one 10mm bolt you have to take out to remove the bracket, and then slide the pad out.
Step 3:
Now that the inside pads are out you have room to move the window to get to the outside pads. I have been told there are two inside and two outside pads, but there may be three outside pads. On the sides of the pads are tabs that have to be pushed in to remove the pads. You have to slide your fingers between the window and the door to push the tabs in. The pads might be hard to remove, so a little pry from a flat head screw driver will help. It also helps to take off the weather stripping on the side of the door to get to one of the pads.
If you have fat fingers:
If you have trouble getting to the tabs to push them in you can remove the black strip along the top of the door. Remove the screw from the end of the strip. Then you have to pull up carefully on the strip to get the white tabs to pop off the door. I was able to get a few to pop off, but I didnt use much force so I wouldn’t break them.
Step 4:
Now you can clean the pads.
Just re-install them in reverse of removing them.
Also, if you somehow break one or just want to buy new pads, here are the OEM part numbers:
Inner : 62304FA001
Outer : 61256FE020