personally, my favorite thing for cleaning all of my action figures & toys is a synthetic "feather" duster. Much like the smallest one in this picture:
It's "feathers" are very soft plastic fibers that "swish" back and forth like a really REALLY soft paint brush. As they swing around, the fibers create a static charge that kind of helps to "suck" the dust off your figures. The fibers are extremely soft & I can't imagine them causing any damage or paint rub except maybe on the MOST fragile paint applications. Even then, i'd think it would take a really excessive amount of dusting to damage anything. Unfortunately i seem to have lost the one i had, so i'm looking for another one.
In the meantime, I've found that Swiffer brand dusters (not the floor mop thingsm but the dusters) also work well, but they are harder to get into really tight spots with b/c they don't "swish" around nearly as much.