I would NEVER use a commercial baby wipe on any part of my dog's body. They are full of potentially harmful chemicals.
An easy and safe way to clean your dog's ears is to flush them with apple cider vinegar. I would use Bragg's Organic. When I need to wipe out the ear I use organic cotton balls, being careful not to push the cotton ball down into the ear canal.
If you don't see any crud in the ears, and a paper towel wiped inside comes out clean, and the dog doesn't show any symptoms (pawing at the ears), then they probably are clean. Your vet will look in the ears as part of a routine exam, and can tell you if the ear canals are clean.
But---it may be worth doing a regular "cleaning" even if it is just a "pretend" cleaning with a dry paper towel on the end of your finger once a month or so. If you never fool with your dogs ears or stick you finger in there it will be very difficult to do so when and if you ever have to.
I'm a big proponent of actively handling every part of a dog's body as part of routine grooming just so they get accustomed to being touched and will permit physical exams and treatment without putting up a fight.