Just let them sit. When I clean parts, I usually let them sit in a bath of undilluted Simple Green for an hour or two. Then I rinse them under hot water and follow up with a quick dunk in an alcohol bath to speed up evaporation and shorten drying time. Any time I have to do any scrubbing though (usually not necessary during a general parts cleaning) I use a cheap electric toothbrush. That does the scrubbing in tiny, gentle movements so it doesn't break things off like manually doing the scrubbing does.