Need help - how to clean my wrangler

I am new to the jeep world. Just recently took my wrangler out to ride on sand and have been hearing people say that I should clean my vehicle (underneath and engine), was wondering if any of you all have tips on how to clean it. If I can do it myself or should take it somewhere to get that done. Also, can I take a soft top wrangler to pressure washing? Would really appreciate responses :)

I have seen where people have put garden/yard sprinklers under their Jeeps to clean the undersides