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Soap, water, toothbrush and good ol' 'elbow grease'
Sort out the really dust parts. If you have a plush towel, you could always rub the less grungy parts on it to see if the clean up.
Separate any sticker-ed parts out of the parts to wash. You can wash them in liquid, just want to be more gentle with those.
Dump the parts into some kind of small tub (I have an old tray from a cooler) and mix something like Dawn or other dish cleaner into the tub with hot water.. Let it sit for a bit to do its thing. Then take each piece out, use the toothbrush, and start cleaning away. Rinse of the parts, and either air dry (lay them all out on a towel on a table) or some have used a dryer I think.(I use the air dry method)
Some have gone as far as dumping them into a garment bag and put them in a washer, but I have never done that.
Lots can be hit or miss, I got one recently and it had a gold mine of minifigures, but a lot of MB's.