For health reasons, it is a good idea to clean brushes as often as possible, once a week at least.
Baby shampoo works fine, in the palm of your hand, take one brush at a time and gently rub them in the baby shampoo. Then take each brush and run it under warm water, using your fingers to rinse the shampoo out. Squeeze the excess water from the brush hairs and lay them on a clean, dry towel. Take each brush and gently wipe it back and forth on the towel to get as much water out as possible.
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