I used the Shannon Lush technique which worked really well on toys that weren't too soiled. Those that were got a spot scrub with a toothbrush and bubbles/foam from some cheap shampoo in cold water (also a Shannon Lush type thing) following by the same in warm water. One toy had to be soaked in Napisan then scrubbed to get clean (reflux baby!). They are all great now.
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