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The most common type of solder available for kit building is Rosin core solder. The Rosin flux ensures the solder will completely coat and bond the two surfaces being soldered. When the lead and pad are soldered, the flux will leave behind a golden brown residue on the board.
This residue is electrically non-conductive and can usually be left on the board. However, many people like to have a clean looking board. Cleaning rosin flux off a board requires the use of some type of solvent. You can get flux cleaners from Radio Shack or any electronics dealer.
Spray the board with the solvent and scrub it with an old toothbrush. Be sure to rinse off all the solvent and flux. Otherwise it will leave a sticky residue all over the board.
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Home Automation FAQ : 
Is there an easier way to clean flux off a board?