The IAC doesn't have much to do with hesitation on acceleration, usually a dirty IAC manifests itself as a rough idle, especially in gear when stopped with an auto trans, though even with a manual sometimes you can get a pretty rough idle to the point it feels like the engine might stumble and die.
It'd still be a good idea to clean the IAC, it's sometimes fairly easy to remove the four screws holding it to the throttle body if you get a really good Philips #2 screwdriver. You can use IAC or throttle body/air intake cleaner, it should all be safe to use since it's formulated to not remove protective coatings. You may need to use a squirt of carb cleaner if it's really stuck, though. I used a lot of IAC/TB cleaner to get the buildup out but it took a shot of carb cleaner to unstick the valve itself. Just wash it out immediately with the IAC/TB cleaner. I also used a cotton swab/q-tip and a spiral motion to get into the corners and crevices - that helped a lot to absorb some of the crud that wasn't washing out on it's own.
You may also want to get a new IAC gasket, they are rather inexpensive and most auto parts stores can get them under the Mahle/Victor Reinz brand.
While you're doing all that I'd highly suggest cleaning out the MAF sensor, throttle body, and checking/replacing the air filter, PCV valve, and even the intake tube from the inlet to the air filter box for obstructions. You may also want to pull the spark plugs and check to be sure they are NGK/Denso plugs and in good shape, and inspect the wires for any wear or damage.