Good old fashioned clorine bleach is the most effective, but understanding you do not want the "other"effects that bleach has on fabric . Use hot water and do completely dry in the dryer on the hotest setting.
Just an FYI pasturization ( process of killing bacteria ) occurs at 180 degrees for one second , it also occurs at lower temperatures but the time needed to kill the bacteria is longer . At 140 degrees you need 15 minutes at 140 degrees.
Use a detergent to clean the soils /and or odors , use temperature when bleach ( a chemical method of killing bacteria) is not used.