I usually squirt ear cleaner into the ear canal, filling it. I massage the base of the ear, try and keep the stuff in there for several minutes if the dog will let you. I soak up as much of the cleaner that I can with cotton balls, then I let the dog shake its head. That usually flings more out. Clean up the ear canal opening with cotton balls. Sometimes you have to do this 2 or 3 times. If you put a cotton ball over your fingertip, you can insert it into the ear canal safely.
I do this before I bathe the dog, that way you can get the ear feathers good and clean after all that shaking gets junk on them.
BTW, Some dogs really do need their ear hair plucked, it's so profuse that it obstructs the air to the ear canal. I never do it unless it's absolutely necessary, and you don't always need to take it ALL out. It isn't painful (they actually act as if it feels good) if you only pull out a few hairs at a time.
I also don't cean the ear with ear cleaner this way unless there's a good reason. I think it messes up the natural balance of the ear to do it if it's only routine. If it smells bad, or if there's just alot of wax on the inside lf the ear leather, then yeah, clean it up, but otherwise, I think...don't fix what ain't broke. Even my 12 year old Scottie has never had her ears cleaned like this. Of course, their upright ears get plenty of air, and are likely to stay healthier. I do wipe the inside of the ear leather outside of the ear opening as part of her 6-week grooming routine, but that's it.