Do you clean your dog's ears ?

I do clean my dogs ears. My vet told me to do it every few days. He said just to put a Kleenex on my finger and gently put it in the ear canal. Not too rough. If they are really dirty I will do the same thing but with those premoistened ear wipes for dogs. My dogs actually like it and will run and lay down in their beds when I get a tissue!