First verify exactly what roof material you have, most likely it is a rubber (epdm) roof.
If it is,: for cleaning - wash/scrub with dawn dish detergent or spic and span as often as needed. Stay away feom Petroleum distillates. There are cleaning products marketed for epdm roofs, and those are just as effective.
I have used Protect All cleaner with sponge mop application and was satisfied with results.
For caulking - again verify roof material first. Dicor selfleveling lap sealent seems to be the internet favorite for caulking around all your vents and seams.
I just used liquid roof around all my vents/seams and like the clean look and overall job it does.
Liquid Roof Coatings for RV Roof Leaks Repair