DO NOT use compressed air from a can. As mentioned the propellant can be rather nasty to a camera's sensor. Fortunately I have not done it myself, but someone I know did, and the camera had to be sent off for repair - $$$s.
A Rocket blower, or those type of devices are far better as only air is used. If that fails to clean the sensor, then a wet clean can be done and a number of sites have already been mentioned that cover that. I have used the Copper Hill system on my 350D with no problems. Newer bodies with self cleaning systems should not need a wet clean as much, if at all.