http://www.canadianliving.com/blogs/...iver-scrubber/
I think a nylon bag would work better than a washcloth... It would dry more quickly and harbor less bacteria.
http://www.etsy.com/listing/46126819...-soap-bags-set (to give you an idea-would be easy to make
This one is meant for produce, but shows how to make one from scrubby mesh (available @ Joanns for about $3/yd)
http://www.myhappycrazylife.com/make...h-produce-bag/
Many people also refer to using an onion bag or pantyhose leg.