I always try to clean up after my kids whether it be at a shopping centre or at someone else's house.
I think its generally disrespectful to go into someone's workplace and make a mess and just walk out without at least alerting the staff to the mess. If you can't stop and tidy/clean up for some reason (as happens sometimes) then a quick apology to the staff on your way out is very appreciated from my experience.
My own embarrassing story: I'm a very clumsy person generally so its no surprise that when I'm tired I'm a walking hazard. One day I needed eggs. Trying to pick up a carton, I accidentally dropped them taking out two dozen eggs in the process! Such a mess and I was so embarrassed trying to find a staff member to tell them. I offered to pay and help clean up but they told me not to worry. They were nice about it but had done the 'sigh' when I fessed up. I always try to avoid that staff member when I see them now.