Conventional wisdom is to ignore them, just leave them on disc, they're probably small, unimportant and won't cause you any problems and certainly not the sort of problems you could get by deleting stuff you don't understand. Convetional wisdom is also not to use apps like App Cleaner - just drag apps to the waste bin.
If you still want to delete them then you have to hunt down the files using the search function in finder to see where they live on disc. You might also need a search app (I use easyfind) because the native searchers don't always find hidden files, config files, system files, etc. You find the files, use Finder to navigate to the folder they are in and delete them there - you might be asked for an admin password to do so. If you still can't delete them then you head off to Terminal and start using more powerful removal commands under sudo with the attendant risks that go with it.
However.....;
1 - the first way is OK if you're a bit OCD and if App Cleaner thinks they should be deleted then you're probably OK force deleting them if you can.
2 - using Terminal is fun, makes you feel a bit like a hacker and gives the opportunity to delete whole directories of important files before you know what's happened with no way to get them back so don't do this unless you are really OCD about having a couple of files knocking about that aren't hurting anything.
I'm a bit OCD and therefore I hunt down all an app's settings, config, and data files and nuke them. One day I'll mess up and it might teach me a lesson.