Petty theft is still theft, and can have serious consequences. Even if you just report it to a cleaner’s employer, they might lose their job or suffer a worse relationship with their employer.
If you really can’t prove it, you should really make sure you know what’s going on, so you avoid doing serious harm to an innocent person.
In the case of a trinket that’s no longer there, and seems to have disappeared when you were not there but other people were, you need to consider how many people had access, and whether it’s possible it got bumped or mistaken for trash or whatever.
Consider that a cleaning person probably knows their job would be at risk if they take things, so how likely does it seem they would risk that to have a trinket?
You can try asking them about it from the perspective assuming they did NOT take it, and you’re trying to figure out where it is, e,g, “Did you happen to notice if my [description] was [where you remember it] when you cleaned the room yesterday?”
If you’re pretty sure someone has taken your thing(s), and want to prove it, you can try finding out, for example by leaving something else you expect they’d take, and checking right before and after they are the only one there.