A good, neutral PH cleaner is fine. Urethane grouts are quite good at maintaining colour and require no sealing.

Do you have a specific product you can recommend?

I know I'm a little late with this comment, but I will try to help. The recommended cleaner is a non-ionic one. Since most manufacturers do not list their ingredients, just go to Home Depot and look for a neutral cleaner. Usually a gallon is about $10. For the grout, I occasionally use a Mr Clean sponge or the dollar store equivalent. I just wish it was on a stick so I wouldn't have to get on my hands and knees. I wish I never put tile in my kitchen. Hope it helps.

The technical data sheet for my urethane grout (Quartzlock) also said ph neutral cleaner, but it went on to give one example. It said "and/or mildly abrasive everday household cleaners such as
Soft Scrub® with Bleach. Do not use undiluted bleach or other
harsh cleaners."