My cleaning method wouldn't work for everyone, say if you have wall-to-wall carpet or a lot of heavy furniture, but it works well for me.
I list a private room/private bath for solo travelers. The room is small and has a single bed, a couple of small nesting bedside tables, a chair. That's the only furniture- the closet is built-in, as is the counter/desk. The floors are tiled, and there is a small throw rug.
I start by shoving all the furniture to one half of the room. I have felt pads on the furniture legs so they slide easily and don't scratch the floor. Then I start with vacuuming from the ceiling down in the empty part of the room, working my way down. I damp wipe the window sills and frames, open out the curtains (I've found bugs hiding in there before) and give them a shake, wipe down picture frames, baseboards, etc. Then I vacuum and wash the floor. While that side of the room is drying, I start in on the bathroom. By the time I have half the bathroom done, the cleaned half of the bedroom is dry so I wipe down the furniture and shove it back to the cleaned side, then proceed with the second side as I did the first. Then I finish the bathroom and put all the bedroom furniture back in place, make the bed, put out towels and toilet paper and top up soap dispensers in the bathroom. Last thing is to pick a small bouquet of flowers or interesting leaves, depending on the season, and set the vase on the desk in the bedroom.
While cleaning, I use antibacterial wipes on the door knobs, the toilet, the faucet handles, and the light switches.
The only things that don't get cleaned each time are the windows and ceiling fan, which are done on an as-needed basis and a couple times a year I take the curtains down and wash them.
Whole process takes me about an hour and a half-2 hours, then I tidy up and clean the kitchen, which my guests have access to.
I have a 3-night minimum, as I don't want to spend this much time for a 1 or 2 night booking and it doesn't really lose me bookings, as it's not the kind of location where guests are just passing through for the night, they are coming on vacation. No cleaning fee, I feel the same as @Emiel1, that renting accommodation carries with it the expectation that it will be clean, so I just factor my time into my listing price. I can understand hosts who rent out entire homes that house many guests that require hours to clean, multiple beds to change out, and tons of linens and towels to wash, charging a cleaning fee, though.