Why not?

with a vacuum cleaner, soap and water

dust them, or vacuum them, and if they are dirty after that, use a cloth and some water with dishsoap and wash them off.

For general maintenance, dust the baseboards before you sweep your floors. This will prevent build-up.

I have hardwood floors and probably sweep every three - four days. Once a year, I wash them all down with hot soapy water. Then repeat the cycle.

For dusting, I use a lambswool duster. They're great for cobwebs, too.