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Harnesses for dildos are available in many different kinds of materials, and the choice of which to use depends greatly on your particular preference.
Leather is considered the best material, and most professional harnesses for dildos use it. It is comfortable, adjusts to the wearer's body, soft, and fits well, but still is strong and not prone to stretching during use. Leather may be slightly harder to clean and require a bit more work to take care of than other materials, this however is usually only a problem with very heavily used harnesses.
Synthetics (Nylon, synthetic leather, foam)- Nylon webbing and soft foam-like synthetic leather are also common for harnesses for dildos, and while not as comfortable as leather, are often much more affordable and may be more durable than leather, as well as being easier to clean and not needing any maintenance.
Cloth is used mostly for clothing harnesses such as corsets and other sexy lingerie, although is occasionally used by extremely inexpensive harnesses, which are often uncomfortable or useless. Construction of lingerie harnesses is similar to most normal items of clothing, although they may use substantially thicker material to give the strength needed to support a dildos firmly.
Some harnesses are made with soft plastic, such as flexible vinyl. These are often available in unique colors, such as completely transparent, which is not possible with other materials. The downside is they're possibly less comfortable than other sex toys materials, and may be difficult to make fit well, however they tend to be very easy to clean and reasonably rugged.
Latex harnesses usually cover the entire area, rather than just using straps. They tend to be medium-priced, and have a limited lifespan, especially if used with oil-based lubricants. Latex can require much care, such as special cleaners or shiners to keep it from turning dry and dusty. Latex harnesses may or may not have the dildos molded as part of the harness, and in either case, they tend to be floppy due to the flexibility of the latex. Similar harnesses are also available made of rubber or PVC, and are similar to latex harnesses, although PVC tends to be much less flexible and elastic.