For cleaning high valued and precious metal jewellery, it is always advised that they are cleansed with a gentle jewellery cleaner made specifically for the particular metal that your jewellery has been made in, for example, rose gold jewellery should be cleaned with a gold jewellery cleaning solution that can be ordered online.
In case that is not an option for you at the moment, using mild soap and warm water is also a great way to do the same. All you need to do is make a mild solution of warm water and a gentle soap. Further, you gently scrub the rose gold jewels using your fingers and pat dry with a lint-free cloth.