That depends on what the filter media is. If it is paper, they cannot be washed. If they are foam, warm soapy water should do it. If they are fiber like K&N, there is a special cleaner recommended by the company, but I just use soapy water and carefully dry them so as not to damage the media.
The filters most likely came with instructions. Many companies post such info on heir websites.
1982 KZ1000 LTD parts donor
1981 KZ1000 LTD awaiting resurrection
2000 ZRX1100 not ridden enough