I use a damp (just water) sponge or cloth. To get any dust off. Then use Mr Clean Magic Eraser sponges for any marks. They are my favorite cleaning thing. I don't know how they work but they make everything look new. Even my 8 year old daughter loves to use them, it's funny to see a kid so excited to clean :-) They work to get crayon off walls, and all other marks. They work on everything! My daughter uses them on her white cheerleading shoes, it makes them look brand new again, and you know how scuffed up and dirty kids shoes get. Sorry the answer is so long, you can tell how much I like those sponges. :-)
Vinegar? Good for windows but it will soak into wood based items and the area will smell like strong pickles for days:)! Lol your not gonna believe this but sani-wipes for dogs are amazing! Lol I had some leftover after my puppies were gone and I used them in my bathroom and was freaking amazed! They smell really nice (like baby wipes) and man do they remove dirt! They last a long time and I've used them on everything, they really work! Waaaay better than Lysol wipes which are super thin. Much more convenient than lysol wipes and are safe on every surface:)
The best way is to prepare an effective cleaning solution by combining one cup of white vinegar and five cups of water; then use a rag dipped in the solution to clean the baseboards. Other methods include: use of vacuum cleaners and wiping using a sponge or rag. Do not use bleach unless you need to remove a stain.