Do you only rinse it with water and accept stains? Boil it? Soak it in bleach? Put it in the washing machine? Put it in the dishwasher? Are they disposable?
For real cheesecloth, I throw it in the washing machine, with my clothes. It doesn't get sterile, but it gets clean enough that I don't worry about it becoming rancid. Rinsing it alone wouldn't suffice if you've been using it to strain fatty foods, like yogurt or cheese.
For the cheap "cheesecloth" that sold in the cleaning sections of grocery stores, that would shred to threads if you tried to clean it. It's cheap and disposable, so just throw it out.
Before the washing machine I put mine through the dishwasher, weighted or clipped to keep it out of the way of the spray arms and to spread it out. This gets the worst of the cheese (or tofu or whatever) off before the washing machine finishes the job, and after that sort of cooking I always have to run the dishwasher, while a suitable load of washing might have to wait.
In the washing machine I use a pre-wash with biotex unscented biological detergent, then a half dose of a minimally-scented detergent and an extra rinse.
I often give it a rinse in boiling water before use (with the aid of a wooden spoon) though not for jam or other things I'm about to boil.
Boiling water and baking soda works for things like kombucha, tofu, cheese, and kefir. If I ever used one to say, wrap a beef Wellington or stuffed chicken breast, I'd rinse it immediately, then put it in the washer on sanitize with kitchen linens and no fabric softener (I use fragrance and dye free detergent). Don't use bleach if you are using for any of the non meat foods mentioned, it can ruin the batch.