Canvas awning manufacturers recommend using a mild soap-based product, like Dreft or Ivory Snow. If you have any spots of mold or mildew, white vinegar is your friend. It gets out the musty stuff without bleaching or toxic chemicals.
Your hose, a bucket of warm water, a spray bottle and a brush are your friends.
Your first line in a clean defense is frequent drenching with the hose. This will keep grit from getting trapped in the canvas fibers and abrading them.
Even with a judicious use of the hose, you'll want to scrub the fabric occasionally. When it's wet, pre-treat mildew stains with white vinegar diluted with water, then spray on a mixture of soap and lukewarm water. Rinse thoroughly.
Spray canvas with a light coat of stain repellent to keep those spots away longer.