Depends on the type of cleaning tape, my grandparents had a dry cleaning tape which had a picture and tone on the video to let you know when the heads were clean, a tape like that you'd be able to record on.
I had one that had a video graphic explaining what it was doing inside the VCR while it was working (it was by Scotch).
Weirdly, it had a warning at the start to not use it in TV/VCR combo systems. I'm not sure why. Also kinda useless if you'd already bought the tape and opened it.