First, blow off any excess dust with a bulb blower (not canned air or anything like that). Then, use a high quality brush and lightly brush off anything that might still be on there. Then, use a
microfiber towel (I use the ones from photo shops) and apply the lens solution to the towel, not directly on the lens. Then lightly apply it (don't put too much pressure, you don't need to rub). After you've sufficiently cleaned the entire area of the lens, use a dry side of the cloth to buff off any excess. You shouldn't have a haze this way.
I would suggest getting a quality filter for your lens. Its much better to damage and replace a filter than to damage the sensitive coatings on a camera lens.
Another thing to remember is dust and other small issues on the front element of a camera lens have little to no effect on the final image. Constantly cleaning the front elements to remove insignificant pieces of dust will only lead to eventual coating damage which will have an effect on the photographs. Now, dust and other issues on the rear element will have a more dramatic effect on the photograph.
Anyways, clean it carefully, get a filter, don't take the filter off. That's probably the best way to do it.