A cleaning cart for a three-dimensional object printing system wipes an ejector head to remove debris from the ejector head. The cleaning cart includes a platform having a plurality of bearings configured to move the platform on rails of the printing system. A cleaning mechanism is movably mounted to the platform, and an actuator is mounted to the platform. The actuator is configured to move the cleaning mechanism relative to the platform to enable the cleaning mechanism to clean an ejector head that is positioned opposite the rails of the printing system.