Cleanses and exfoliates just with water without soap which can be too drying for sensitive skin. 
Akasuri scrub technique: Take a hot shower or bath to open the pores and soften the dirt and dead skin. 
Ring the towel tight to make it damp but not dripping wet. Fold the towel flat to get a flat contact against your skin. 
Scrub one direction towards the heart and witness the flakes of dirt and dead skin coming out!
Start gently first as it might cause irritation to your sensitive skin.