It depends on how dirty they are. Ours are far enough away from bay overspray that just wiping them down with a damp cloth keeps them looking good, but I've seen some that were so bad the owner considered replacing them. A spray with Klean Wall made them look good as new again.
I have used Sheila Shine on stainless, but it doesn't do as much cleaning as a damp cloth. It just leaves an oily shine, like Armor-All on vinyl, and it attracts dust. There are aerosol stainless cleaners that are without the oil, but they tend to streak and will even leech behind the decal and turn it brown.
I wipe down two vacs every couple of days, which takes less than five minutes.