<p>Would it be posible to design something that is as flexible and that can be printed with PLA that would work as a cloth? I did some research and found that there was a company named Electroloom but that didn't make it. I'm not looking for anything fine, just something that would work for wiping</p>

Maybe you would be better off with TPU or some other type of flexible material...
I have been able to print PLA and have it flex quite a bit, but that was an ~0.2mm single layer print, I guess maybe up to 0.3-0.4mm should still be a little bit flexible, but not much. Also since you want it to wipe things, maybe you should look if TPU even has all the properties required for that as Carl mentioned in the comments.