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A vacuum with a brush attachment is your best bet. An old toothbrush might help to loosen troublesome spots. Don't press hard enough to stretch the grille cloth (that's the word you were looking for) and make it saggy.
If it really won't come off, you'll have to remove the speaker and the baffle and wash it with a brush, a bit of water and dish (not dishwasher) soap. Use a shopvac that can handle wet to suck it dry.
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