santron- Welcome to Autopia. Like Aurorav8 said, (VERY VERY) soft brushes and q-tips. I'll pull the cotton wadding off a q-tip and use it with a sharpened toothpick. Using a QD can help too.
You might want to consider a wax that doesn't cause the rubber/trim problem. I INTENTIONALLY put wax on many such surfaces (instead of an ERV dressing) and it works well for me. (I know, that's weird, but I intend it here as an example.) P21S,
Souveran, 3M Show Car Paste, Meg #16, and Collinite all work fine for me trim-wise if I DON'T let them fully dry before buffing off. Using the LEAST wax necessary to ensure complete coverage will also help.