Find a tutorial on how to make your own Pill Towels on Instructables. My advice would be to use castile soap, since it is the best for you and is biodegradable. Also, even though they're a little more expensive, it would be best to get the most cloth-like paper towels that you can for the project.
I haven't done this one yet, but I plan to this week. I'll let you know if I have any more tips.
The possibilities for this are endless! I'm excited about them for camping, traveling with Elliot, and keeping a couple in my purse for clean-up emergencies.