I also often prefer using the buttons or the stylus just not to get the screen dirty.
Otherwise, I have found that those 'glass cleaning' kits (spray+microfiber cloth) work very well. I have been using those daily with a PRS900, a PRS950 and an iPad, with adverse effects (I was doubtful at first and some people recommended not to do it... but I had colleagues at work doing the same and it seemed to work fine, so I tried it as well).
I have done this for a year now on the PRS900 (less for the iPad and PRS950) and I am pretty sure it does not affect the screen.
Also, I like the spray because it allows to remove some things more easily. Using microfiber on a 'dry' screen can still scratch it, if you have some particles (sand, or even food at times, if you read while eating like me) sitting on the screen...
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