Use vinegar and a clean cloth to clean rubber seals and fabric softener/detergent dispensers.
Set your washing machine to the hottest water setting and the largest load capacity and run a load with vinegar (no clothes).
Set your washing machine to the hottest water setting and the largest load capacity and run a load with washing soda (and powdered oxygen bleach if desired) or baking soda.
When the cycle is done, wipe down the inside washer drum with a clean cloth. If desired, wipe down the exterior with a damp cloth.