DON'T use any kind of steel wool! This will scratch the surface. It's best to get a "cooktop cleaner" from an appliance store, and use one of those sponges that has the plastic scrubber on one side. You'll have to use a little "elbow grease", but it works like a charm!
You need a non abrasive kind of scrubber. This kind of scrubber cleans smoothly leaving no marks on the stovetop. Using another type of scrubber may leave marks on the ceramic stovetop since it is easily scratched.
Lay a hot wet rag soaked in dish detergent water over the food. Leave it on there for 10-15 minutes to soften dirt and then use a Magic Eraser kitchen sponge to finish. It also helps to do it after you've cooked something when the surface is a little warm.