Benches that are made of manufactured wood or metal are usually easy to clean. A damp cloth with soap and water is usually sufficient to remove dirt and stains. Make sure to double-check the manufacturer's specifications, as some harsh cleaning chemicals can damage manufactured wood or metal finishes.
Upholstered benches can usually be spot-cleaned or vacuumed but may require a little more effort than manufactured wood or metal. Fabric-covered benches may be a better fit for bedrooms and offices instead of mudrooms.