Isopropyl alcohol works great to clean up the fog. If you use a swab, be very careful to avoid bending the metal arm that holds the bulb. If you do bend it, you'll never get it repositioned correctly again. If you try to reposition it too much with tweezers and forceps, it falls off. If you try to remove the lens to replace it, you'll find that that gray goop pretty much makes that impossible. Then you go out and buy H4's (which are great, by the way).
Before I tried a swab, I'd just pour some alcohol in,swish it around real hard and let it dry. I read on a thread somewhere that this works as well and can be a whole lot cheaper
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