Fuel injectors should typically be cleaned every 30,000 miles or every 1 to 2 years, depending on the vehicle's make, model, and driving conditions. However, this can vary based on several factors, including the type of fuel used, driving habits, and the manufacturer's recommendations. Vehicles that frequently drive in stop-and-go traffic, use lower-quality fuel, or are subject to harsh environmental conditions may require more frequent cleaning. 
Regular maintenance schedules provided in the vehicle's owner manual should be followed, as they are tailored to the specific needs of the vehicle. Some modern vehicles with advanced fuel systems and high-quality fuels may not require injector cleaning as often, while older models might benefit from more frequent attention.
Signs that fuel injectors may need cleaning include rough idling, decreased fuel efficiency, engine misfires, or difficulty starting the engine. If these symptoms are present, it might be necessary to clean the injectors sooner than the standard interval.
Professional cleaning services are recommended for thorough maintenance, as they use specialized equipment and solvents to effectively remove deposits. However, fuel injector cleaning additives available in the market can be used between professional cleanings to help maintain injector performance.
Ultimately, adhering to the manufacturer's guidelines and being attentive to the vehicle's performance will help determine the optimal cleaning schedule for fuel injectors.