How do you clean camera lenses?

I was taking a close-up of my uncle's dog, and, being a little too friendly, she licked the outer lens of my BRAND NEW Canon Rebel. :/ It's not new and shiny anymore... :(

Does anyone know easy household tips? Any help would be appreciated... I'm so protective over my new Canon.

I would definitely only use a microfiber cloth on the lens whenever possible. You might want to look into investing in some UV filters--I have them on all my lenses to protect the actual outer lens element from damage.

Invest in lens paper from the camera shop. Works great on glasses too!

Use a microfiber, lint free cloth. Carefully use the cloth to sweep the lens of any dust debris, then turn the cloth and apply gentle pressure in circular motions until it's clear. If needed you can dampen the cloth very slightly. Good luck.

rubbing alcohol on a qtip or premoistened eyeglass wipes

You really don't need a special cleaner or chemical of any kind.
A good micro fibre cloth (which is suitable for cleaning glass)...and a couple of breaths of warm moist air from your mouth is really all you need. Simple

Instead of paying for a tiny pack of lense cleaning tissue I use the same tissue paper that is used in gift boxes when you are wrapping christmas presents and water. Works great.
don't use the color stuff, just the white.

The quick and easy fix is a little windex on a small paper towel should do fine. Don't go over-kill with the windex because you don't want it to leak inside (doesn't happen often).
Or, if you have some lying around, some Isopropyl (spelling) alcohol works really well.
Since the smudge came from liquid (dog slobber) the windex may work better (water based cleaner). Windex works really well for anything water-based (sugar, soda, etc.). Alcohol just can't disolve that kind of stuff very well - it just sorts smears it around (if it even does that).
Sometimes as a last little step (after you have gotten it mostly clean) you can give it a shot of warm breath which will fog it up a little and then give it a final wipe-down. Seems to help me from time to time.

if it needs cleaned on the inside you'll have to go to some camera store that has the equipment to clean it for you