Pretty close to it.
You won't get many stains on keycaps that won't soak off, and denture tabs help to get rid of oil and dirt.
Just put about 3 in a container of warm water, soak the keycaps until the water turns clear (or turns brown, depending on how dirty the keycaps were), and then spread them out on newspaper or similar to dry.
There are a couple of threads around here that explain it similarly.