If I do, usually just some windex on a paper towel. These painted rims are much easier to look at if they are dirty than chrome rims I've had on other bikes. The bug splat and brake dust would drive me crazy!
Wash the bike on the center stand, use the sponge and soapy water to wash each wheel. While it's on the center stand, you can turn each wheel to get to all of the areas behind the fenders, swingarm, drive shaft etc. The front wheel takes a bit more effort to turn, and only turn it backwards, you don't want to pull the bike forward off the c-stand!