With years of using cast iron pans under my belt, I very rarely clean them beyond scraping out leftover food. If you season and care for you pans, you won’t have anything stick. You can even fry an egg with no problems at all. But EEEEEKKK! What about all those germs!? Well, you will be cooking with the pan and it will kill them. I have never gotten sick from cast iron pans. Ever. I even went to the arctic with them, where I was 1 to 2 weeks away from a doctor and cooked almost every meal.
But, if you really feel like you need to “clean” something that doesn’t really need cleaning like you would other dishes, take a look at this. They say to Wash (with or without soap), Dry, Season. Watch a manufacturer’s youtube video: