Silicone sealant is actually quite a broad term that is used a lot especially when it comes to DIY jobs, the first thought for most people is to go to their local DIY store and grab the cheapest one in the right colour.
By far the best way to remove silicone sealant is when the product is still wet. Whilst it is still in its curing phase and before it has formed a skin, excess or incorrectly applied silicone is best removed just using a dry paper towel.
Certain cloth cleaners can also be used but remember to use them dry. The friction of a wet towel (especially a paper-based one) will remove uncured silicone better than a wet cloth which will tend to smear it. Whilst the silicone is still wet you do not need to use any other cleaning liquids.