Tesla recommends that you first select Controls > Display > Screen Clean, which temporarily disables the touchscreen while you clean. Then, use a microfiber cloth to get rid of any fingerprints or smudges without scratching or otherwise damaging your screen.
Some people will buy screen protectors for their console displays, too. While you don’t have to do this, it will protect your screen from scratches or cracks. If you’re cleaning the screen protector rather than the screen itself, you should feel free to use a paper towel sprayed with a glass cleaner to wipe away any smudges.