Looking over the several different makes and calibers that I have on-hand, virtually all of the centerfire models' magazines have a removable floorplate on the mag. Removal should be covered in your pistol's manual. It's a straight forward job, the only caveat I'd offer being to be very carefull to keep track of which end of the spring is which and how it's oriented in the body.
I'll second the recs already posted re: dry lubes and cleaning drill. I wipe mine down to remove residue on the follower and body after every range session, and do a detailed cleaning/relube on my CCWs with every ammo replacement, about 3-4X a year.
Metal magazines lacking a removable floorplate needn't be that much more of a chore. Spray products like "Gun Scrubber" work well, as does sloshing them around in a coffee can with kerosene, mineral spirits, or the like. Compressed air is the easiest way to get rid of solvent residue, but a rag and some Q-Tips will work too. Use a light hand with the lube, wet or dry. Too much causes more problems than it avoids.
Plastic mags, followers and baseplates need some caution when it comes to solvents. Depending on the material, there is some possibility of chemical reaction which could render them unusable. Read the product label carefully for cautions and choose one which specifies that it is harmless to plastics and wood finishes. Not 100% foolproof, but more likely not to ruin them.
I detail clean rimfire semi-auto mags (except aftermarket 10/22 high-caps) after every session. Those get lots of Q-Tips and some occasional swearing. The ones on manual repeaters, including tube mag models, get a dab of Hoppe's where the soot is and a good wipe down to dry, followed by a light coat of preservative/lube.