For Safari, go to Settings - Safari, and clear history and website data. If it's something else you're looking for, would you please explain a bit more what you want to remove?
Some of the individual apps have it in their settings. It's not like Android where you can go to the application manager and clear the cache and data. For most apps on an iPad you will need to delete and reinstall. It's a pain but it's just what you have to do. I know personally it doesn't bother me too much except with the facebook app. It kept growing huge so I deleted the app. I just use it on my phone now. It was a pain.