Your brass will sparkle like the day you got them with the right cleaning technique. Here's the safe way that jewelers recommend.
Hold a magnet to the item. Real brass is not magnetic. If the magnet sticks, it's brass-plated and needs gentler cleaning.
Cut a lemon in half, dip in baking soda, and rub onto the brass surface. The citric acid dissolves tarnish while baking soda scrubs.
For heavy tarnish, make a paste of lemon juice and baking soda. Apply and let sit for 30 minutes.
Rinse under warm water and buff dry with a soft cloth. The brass should be noticeably brighter.