Id personally use a cotton bud/q-tip and soak it in distilled water/lens solution... Soak the cotton bud and hold it on the mud speck until it is damp and it should kind of "stick" to the cotton bud. I wouldn't wipe it about as small particles may scratch the element.
Are we talking globs of mud or just a couple of dirty water spots? If it's globs of mud, moisten them with water on a cotton bud (distilled water is a bit overboard) and dab them off without moving them round too much. Once you're down to dirty glass, a damp lens cleaning tissue wiped gently (as little pressure as possible on the front element of the lens) should get the grub off. If just dirty water spots, again moisten but it won't take as long!
q-tip dipped in distilled water
jesus, that's the most precious thing i've ever heard
do you have a little knitted jumper for your camera if you use it in the winter months
just scratch the majority of dry mud off with your fingernail, spray on some glasses cleaner and wipe with a cloth until gone
http://petapixel.com/2011/04/08/this-muddy-nikon-d3-shows-the-benefits-of-weather-sealing/

Is your lens water resistant? If so, get it a bit wet first...
Totally agree. I dropped a 1d mkiv & a 600 mm f4 in a lake briefly. It was covered in mud. The front element was caked with crud.I don't understand why some people are panicking about picking a bit of mud off the element but are then suggesting pouring water onto the lens instead? It's a bit of mud on the front of a lens, not a hundred year old tapestry!
If I don't have my t-shirt to hand I buy boxes of 100 glasses lens wipes for a pound in Asda and keep a handful of them in my bag. People really do worry too much about being delicate.
Steve