to wipe off the water on one's hand with a clean towel
to dry one's hand with a clean towel
「清潔なタオルで手の水を拭き取る」は
to wipe off the water on one's hand with a clean towel
to dry one's hand with a clean towel
のように言えます。
to wipe off で「拭き取る」
to dry で「(濡れた何かを)拭く・拭って乾かす」
clean towel で「清潔なタオル」
例:
Here is a clean towel to dry the water off your hand.
「手の水を拭くための清潔なタオルですよ」
ご参考まで!