My 2 cents: I think it's easier in the long run just to replace the IAC. Cleaning it seems to be only a temporary fix in my experience, so you end up pulling it again a few months after cleaning it.
Yesterday, I cleaned my IAC for the first time on my 2001 ST. I went through a lot of Q-Tips and 91% isopropyl alcohol! Lots of black build-up. While in the area, I also found a cracked EGR elbow and replaced it with a piece of 5/8" heater hose with a 90-degree premolded bend. Idles great, now.