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You can't; same principle applies to any vehicle, off road or not.  If debris ends up between the rotor and pads, it will result in scoring.   As long as it's not deep enough to result in a brake performance issue, it's nothing to worry about.

As far as spraying the brakes with cold water, they're designed to survive such instances (driving through a puddle), but it would be better to let them cool first before washing when you have the option.