I'd wait a day assuming you're talking about a damp cloth. If the cabinets are in the house (and not in the shed outside), a drying time of 24 hours should be fine. Just make sure you don't use too much water. Before you wipe, use a clean paint brush to get off the 'big' stuff. Get in the corners real well. You should be able to sand the 'damaged' area out a little. Don't press too hard. Dry-brush again, then damp-wipe and wait 24 hours.
Oh, and be sure to stir the can real well before you paint, and stir often. Every 15 minutes or so. If you can get away with pouring what you need into a separate container, do that and cover the main can. That way, you won't be leaving the 'good paint' out to evaporate and such.