Best practice for cleaning cloth seats

ive got a 2008 4R SR5 with the cloth seats. i my entire water bottle leaked out onto the seat and i didnt notice right away. the seat now has a brownish color in spots. who has had luck bringing seats back to life? and how did you do it? they are still in good condition just a coloring issue, so i dont want to do covers

 

Just water? Steam and clean !!

 

Bissel Little Green machine.

 

Both above responses are great options
If you don't have any of those machines, you can also throw a brush attachment on your drill with spraying some APC (all purpose cleaner), scrub it out, and vacuum it up with a wet/dry vac.