The kicks use a "normal" pedal and beater (that's usable on any "real" drum set), but there's a small black part that goes behind the pedal that consists of a pad (for the beater to hit) and a connector so you can route it to the V-Drum brains. You need to put the beaters in a little different so that the pedal range is correct.
As for cleaning, do NOT use ArmorAll or anything like it (the guys on the V-Drum forum were pretty insistent about that). The thing to use is something called "303 Aerospace Protectant" which is easily available online. Nothing else is recommended except using a damp cloth. The mesh heads however, have a couple of tried-and-true cleaning methods. You can actually take them off and put them in your dishwasher (on a gentle cycle) or carefully put them into a sink filled with warm water and a very mild detergent.