There are two kinds of vaginal orifices for sex dolls, one that is removable (insert) as well as one that is fixed (built-in). With vaginas that are removable, you can remove an sleeve, similar to an elongated fleshlight, when you've used it. It is then necessary to wash it out using warm soap and water, and after which you can dry the sleeve. You may also need to clean any excess lube off the skin that the doll is sitting on. However, the process is easy and fast. It is possible to lubricate the exterior inside of your insert in order to aid in inserting and remove. Personally, I prefer vaginas that are removable However, some claim they aren't as comfortable as they do, for instance because in certain models, the insert may not fit properly and move through the orifice.
Vaginas that are built-in are harder to clean. Some prefer detergent and sponge placed on sticks to clean the mini sex doll and others recommend taking the flat chest sex doll to the toilet or putting it on an empty bucket and flushing out the vagina using an urinal. It is then dried, which generally will require a pump or fan (like the air pumps in aquariums) to ensure circulation of air within the orifice. You could also utilize an absorbent sticks to help dry the item. This is also available with some dolls today. In the case of realistic sex dolls made from made of silicone and you want to clean it, you can use antibacterial gel to cleanse it. But, it's not advised to apply it on TPE since it could weaken the material.
If you are a woman with a built-in vagina there's another option that is female condoms. They can be inserted into the vagina and removed when the process is complete to ensure that there is no cleaning needed. Some say it's not as comfortable and that sometimes the female condom will fall off, especially when you use them again.