Different makes of printers, and different models of the same makes, can have different ways of accessing the utility to clean the print heads. However, to the best of my knowledge, the following technique is a universal one that works with ALL makes and models when you're using Windows 10:
Click the following, in order:
Start > Settings > Devices > Printers and scanners.
Then click on your printer model, followed by 'Manage'.
Next, click 'Printer Properties', followed by the 'Maintenance' tab.
You should then see various options available to you, probably including 'Cleaning', 'Deep cleaning' and 'Nozzle check'. (The actual terms used for your printer model might be slightly different). Use 'Nozzle check' (or 'Test page', if that's what it's called for you) to see just how well things are currently working. Then use the cleaning options to try to improve matters.