No harsh cleaners like bleach are required. Liquids will bead up without penetrating the fabric and can be removed by blotting as quickly as possible with a clean, absorbent cloth. Any residual discoloration can be removed by gently rubbing the area with a damp cloth.
For more difficult stains like ground-in dirt or food, brush off any dried residue with a soft brush and then gently clean the area with a mixture of water and mild detergent, followed by lightly rinsing with clean water.