I don't use cleaner planner
But go cardless is the best way to take payments imo.
It's very simple, customers sign up using their bank details.
You log into your go cardless account, click the customer you want to take payments from and enter the amount. That's it, they get an email saying you are taking payment and the payment appears in your bank a few days later.
I believe you can automate payments so take every month etc but I do it manually as I never know when I'm going to be cleaning them.
Also you can take payments directly from cleaner planner I think without having to log into go cardless.