Can you get pregnant from precum (wiped off on cloth first) rubbed on your vagina?

It's always possible: It takes one sperm to fertilize an egg cell and create a baby. Best wishes!

Potentially: Most older studies have shown low levels of sperm or no sperm in pre-ejaculate with sperm not being motile (however, don't know how promptly samples were examined). However, a study published in 2011 showed that there are some individuals with a high motile sperm count in pre-ejaculate. See: http://www.ncbi.nlm.nih.gov/pmc/articles/PMC3564677/