Liquid cleaning compositions are described that comprise sulfo-estolide (SE) salts, particular sodium, lithium or ammonium salts of sulfo-estolides, and alkyl ester sulfonates. The liquid cleaning compositions are clear, stable and substantially free of precipitates due to the use of sodium, lithium or ammonium salts of sulfo-estolide rather than a potassium sulfo-estolide salt in the composition. The liquid cleaning compositions also have a total combined amount of saturated C16 and C18 fatty acids of less than about 5% by weight to prevent the formation of precipitates in the composition.