To properly clean cast iron without eroding the seasoning, add club soda while it's still hot. Let it soak for a few minutes, then gently scrub the area with a cleaning brush.
Club soda is such a more powerful cleaning agent thanks to its added minerals and carbonation. While there's no scientific evidence to prove this, anecdotal tests point that way.
Club soda's additional minerals give it a distinctly salty flavor, and these salts act as an abrasive and an absorber to help remove unwanted particles from a surface.