RPM Bearing Blaster and a can of Motor spray just carefully remove the shields and blast away for a few seconds.
Place now clean bearings on a clean paper towel to let them dry for a few min. you can speed up the process by blasting it with some compressed air don't try to spin the bearing with the air just dry it out.
To re lube you can use grease or oil to re lube
the grease will last longer but will add a bit of drag (more time between cleanings)
the oil will not last as long but will allow the bearing to spin faster (more frequent cleaning needed)
for grease you can use pretty much any type of grease you don't need to pack it in there since the excess will just spin out during use and just attract dirt.
For oil you can use pretty much any light to medium viscosity oil, just remember the lighter the oil the higher the chance of toasting your bearings if you don't maintain them often enough. I've used everything from Marvel Mystery oil, Air tool oil (not recommended) as well as Mobil 1. I just dunk the bearings in a small glass container and run threw the ultrasonic cleaner for about 3 min then pull them out and let them sit on some newspaper to soak up the excess oil. wipe em down and replace the sheilds and re install.