If I am starching I always let the starch dry or sit for awhile, them I do not get residue.. If its steam a seam or other fusibles , I use "hot iron" cleaner .. you can get it at Jo'Anns.
Some use dryer sheets.. I have not had much luck with them . If its really really bad and I have use Hot Iron cleaner without getting it all off.. I use a very very fine steel wool and very lightly scrub it off.