Is foam or a wipe or baby shampoo best for cleaning sensitive eyelids?

A good option: Although there are several products on the market to clean eyelids, dilute baby shampoo on a wash cloth is one of the safest methods to use. First, have an eye doctor determine if you have blepharitis (inflammation and/or infection of the lids), then try gently rubbing the lids for about 1 minute with a wet washcloth that has baby shampoo on it. If the eyes remain or become more irritated, go back.

Warm water: Cotton tip soaked in warm water is probably best. Sometimes just a drop of baby shampoo in cup of water works with a cotton tip. There are over the counter stuff that utilizes foam or wipes for your eyelids as well, and they work okay too.