3D Print something as flexible as a cloth with PLA?
Maybe you would be better off with TPU or some other type of flexible material...

I have been able to print PLA and have it flex quite a bit, but that was an ~0.2mm single layer print, I guess maybe up to 0.3-0.4mm should still be a little bit flexible, but not much. Also since you want it to wipe things, maybe you should look if TPU even has all the properties required for that as Carl mentioned in the comments.