I wash all my cycling stuff in the machine, gentle cycle, cold water with a cap of woolite, or in the sink, with a couple of changes of water to rinse. DO NOT use fabric softener, it affects the ability of the material to wick moisture away. I let them air dry in the shower. A good tip is to turn all the stuff inside out before you wash it, help prevent any little pulls or nubs from forming. If you want to machine dry them keep the heat really low and check a bunch.
Hope this helps,
Steve W