Raise the back of your tongue to touch the soft palate (velum). Stop the air, then release.

Americans pronounce cleanup as KLEEN-uhp (/ˈklinˌʌp/). Stress falls on the first syllable — keep everything else short and quick. You'll hear it in sentences like "He participated in a beach cleanup to remove litter".
Record yourself saying "cleanup" and play it back. The mic stays on your device — nothing's uploaded.
2 syllables, 6 sounds. Tap a syllable to jump to its row, then explore each sound's mouth shape and how it's made.
Raise the back of your tongue to touch the soft palate (velum). Stop the air, then release.

Place the tip of your tongue against the alveolar ridge just behind your top front teeth, the same contact point as /t/, /d/, and /n/. The difference is what happens to the air: for /l/, you let it flow continuously around the <em>sides</em> of the tongue (that's why /l/ is called a lateral). Turn your voice on the whole time. Lips stay relaxed, no rounding or flaring. For the Dark L variant at the end of a syllable, also pull the back of the tongue up and back toward the soft palate.

Pull the corners of your lips back slightly. Arch the middle-front of your tongue high toward the roof of the mouth.

Touch the tip or front edge of your tongue to the roof of your mouth behind your teeth. Air flows through your nose.

The textbook way isn't wrong — it's just not how anyone actually says it.
In "cleanup", the "p" is not released — the articulators get into position but hold without the burst of air. Air stops but there's no release burst — the articulators hold position.
Stress falls on the first syllable, not the others. Stretch KLEEN — keep everything else short and quick.
Don't pronounce the first syllable too fully. The unstressed syllable reduces to a schwa — the lazy "uh" sound — in casual speech.