For his tail and paws you can use a damp washcloth just on those areas. But it really shouldn't even be needed if you can set the cage up so that he can't stand or sit in his pee. Once that is done, he will clean himself well enough that you won't need to intervene.
A rabbit should not be given a full bath - even if just plain water is used. A rabbit's skin is far too delicate for regular water baths and definitely should not have any soap of any kind. Both the HOuse RAbbit Society in the US, and the RAWL in the UK warn against ever bathing rabbits.
If you need tips on keeping your bunny out of his urine, just ask.