From my own experience I can recommend such ear cleaners as EcoEars Natural Dog Ear Cleaner and Virbac Epi-Otic Advanced Ear Cleaner. I also saw many positive reviews about Zymox cleaners too.
Making your dog sitting or standing still during the whole process is impossible. Well it's their natural behavior and you just need to be patient
But you can train your dog to be calm during the cleaning, show it that it's totally safe and not painful,
clean dog ears properly and always be gentle.