Wash the headlights with soap and water
Dry the headlights completely
Tape off the paint around the headlights
Apply toothpaste or a plastic headlight cleaner
Scrub the lens with a microfiber cloth
Rinse and wipe clean
Sand lightly with wet sandpaper if haze remains
Use progressively finer grits if needed
Apply a polishing compound
Buff until clear
Seal the headlights with a UV protectant
Repeat as needed to maintain clarity