A stamping system includes a press machine having installed an upper die with an upper die surface and a lower die with a lower die surface. The upper die surface and the lower die surface each have a non-planar geometry. The press machine presses a workpiece between the upper die surface and the lower die surface during a pressing operation. A die cleaning machine is provided having a brush configured to remove foreign debris from at least one of the upper die surface and the lower die surface during a cleaning operation, wherein the die cleaning machine is configured to maneuver the brush in various orientations relative to the press machine to clean the non-planar upper die surface or the non-planar lower die surface.