Not sure if this is the best way, but I usually use a toothbrush and some dish soap, scrub the entire branch, soak it in some water for about 10 secs, then put it outdoors to dry.
I brush them and if they aren't too big, I bake them at 392 to 482 degrees Fahrenheit in my oven (200 to 250 degrees Celsius). In very rare cases I use water to clean them but I've only done that once.
Male Ball Python (Bumblebee het 100% Clown) - Friedrich
Female Cat (unknown heritage, was an orphaned kitten) - Shirley
I would typically hand clean with a brush and water then throw in the oven, but I'm guessing since yours are larger they won't fit in your oven. Any chance you have access to a commercial oven?
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