Do the two halves slide past each other i.e bottom one goes right up and the top comes right down, it looks like they do
If so, just clean them like you would a sash window.
pull top half down, then over the top, clean the cavity side of the bottom pane.
pull top half, half way up, then over the top, clean the top half of the top pane.
push both panes up to the top, then pull the top pane half way down. From underneath, clean the bottom half of the top pane.