Sensor cleaning isn't as bad as it looks. With the right tools its really easy. I highly recommend the method Moose outlined in the video... Use the blower bulb first, then move to the butterfly and then to wet cleaning if you need it.
The most important thing to remember is that you should always clean the sensor with a full battery. If the battery gets below a certain charge level, the mirror will snap back down without warning and if you have a sensor swab stuck in there when that happens, you'll need a new mirror.