For purely dust, Personally I would use a microfibre cloth or microfibre “duster on a stick” for places out of reach - you can a telescopic one of these from Amazon for about £2.
If there is staining / deposits on the plastics I always try a damp cloth first.
If this doesn’t work a dedicated cleaner can be used like Autoglym Interior shampoo or vinyl and rubber care x there are many out there.
A word of caution: unless you want I shiny dashboard make sure you apply and buff off instantly any proprietary shampoos or treatments - hence I prefer to use water as my first attempt.
Going beyond your question a little, for accumulations of dust around switches, vents etc I would use a soft brush to get the dust out then use a microfibre cloth or vacuum, as necessary.
For crumbs and the like stuck in cup holders etc that won’t vacuum out you can get a sticky gel stuff that you mould like plasticine to “ grab” the debris.