Remove the grates that cover the burners. Check your cooktop manual to see if your grates are dishwasher safe; if so, clean them in there. Otherwise, wash them in hot, soapy water, rinse and let them dry completely.
Use a paper towel or cloth to wipe away any stray crumbs from the cooktop. If food is stuck around the burners' ignition, use a toothbrush to gently clear away any blockages.
Squeeze a generous amount of dish soap into a big bowl or bucket, and fill it with hot water. Put on your dish gloves, dip your scrubber in the water and clean the cooktop surface. Make sure you're careful around the burners.