How to clean fabric that can't go in the washing machine?

[Sabulous]

Hi all
I was wondering if I could get some cleaning advice. We've got a few things second hand for our impending arrival, and some of the items are covered in fabric can't go in the washing machine. Like the poles for the baby gym and stuff that has a foam filling. What is the best way to clean / disinfect the fabric?
Thanks so much :)

When I was given second hand stuff I just wiped everything fabric down with a spray bottle of dilute fairy liquid. It was more to get rid of dust than anything else, you're not going to be eating off the bars of the baby gym and by the time your baby is putting stuff in its mouth you'll be well beyond the baby gym stage. (I'm assuming it's not visibly covered in mould or mildew!)

Thank you :)