There is absolutely no reason to clean inside the foreskin until the boy reaches puberty and starts producing testosterone and gonadotrophins and all that is needed then is rinsing with clear water. Many men prefer to use soap and if they do, they need to rinse carefully and completely as the soap residue can be irritating.
Intact men don't care for direct stimulation of the glans because it is indeed more sensitive and direct stimulation can either overstimulate them or can be painful. It's just like most women don't like direct stimulation of their clitoris. Consider the parallels there!
There is also the misconception that intact men are too sensitive. That is sooooo totally not true. Circumcised men have only one sensitivity and that is the sensitivity of the glans. Intact men have the sensitivity of the frenulum, the sensitivity of the frenar band and the sensitivity of the inner mucosal foreskin in addition to the sensitivity of the glans. Consider your sense of taste to understand the comparison. If you did something to someone's sense of taste that was the equivalent of infant circumcision, they may be left with only the ability to taste salt and they would be hypersensitive to salty tastes. They may even seek out foods with high salt contents to stimulate those sensitivities. However, an intact man would have what would be classified as "extra" sensitivities and if it were the norm to destroy most of the sense of taste, may even be considered to have too much sensitivity to taste. However, what he would be experiencing would be a complete range of different but separate taste sensitivities that all combine to a seamless whole of the gastronomical experience. There are many different sensitivities of the intact penis that combine to provide a complete sexual experience. Intact men do not have too much sensitivity, just many more different kinds of sexual sensitivity.