I have a front-loader washing machine with a very gentle delicate cycle. Use it for all my cycling gear, bed linen, underwear and socks. Pull jerseys and shorts inside out and zip everything up. Hang the cycling clothes and socks to dry. Easy. Cycling clothes hold up very well. I also bring cycling clothes often into the shower, rinse, ring gently and hang to dry to get one more use before the wash.

Occasionally I hand wash an item or two because I need it and don't want to waste the water/energy of a full wash. But routinely handwashing shorts? No, not since I had leather chamoised shorts. (Except on tour. See fietsbob's post.)

Ben