This site link has some really good info on cloth diapering, from how to wash, what lingering smells can mean and how to strip, different types detergent needs and comparisons etc.
Best tip for cleaning after a messy one is to use a liner, there are a few fabrics you can use and the easiest is microfleece (make sure it's microfleece not polar), this stuff doesn't fray so needs no sewing and you can cut a shape to fit in your diaper, when it comes to changing you can take the liner out shake it into the toilet and then hold it under the running flush (or use a shower if it can reach) to remove the bulk then just put it in with the diapers to wash.
Microfleece also acts as a stay dry layer and dosn't let mess cling to it as much as some fabrics and is fairly cheap to buy (wazoodle sell it in the states).
As for actual washing to get it good and clean you will need to know the capacity of your washing machine for what is considered a full or partial load and also the weight of a wet diaper, using this info you can check on the detergent package for how much you need to use (too little they wont fully clean, too much and it can leave smells and buildup reducing capacity). You will also want a diaper safe detergent (there are several and that website can help you find one.)
The main things you'll want to do are:
- Run a cold rinse cycle first, no detergent (your machine should have a quick rinse and spin setting for this). This gets rid of most of the urine and waste from the diapers so it is not floating around in the water on the wash cycle.
- Run a full wash, with the right amount of detergent, the setting you use will depend on the diaper type but will most likely be a cotton setting and no more than 60 degrees (40 is fine) hot water is good for killing bacteria but too hot and it can cause damage to the diaper, especially with waterproof layers.
- If your machine has the option to use extra water or add an extra rinse to a wash cycle use it, diapers are thirsty and need more water than regular clothes to clean them, this also help make sure all the detergent is out at the end.
- Tumble drying is fine but not too hot again and make sure to follow any instructions, if using separate waterproof pants don't tumble dry them as it can cause damage/wear.
- NEVER use fabric softener, it builds up in the diapers and causes them to lose capacity and become water resistant.
Getting cloth diapers properly clean can sound like a lot of things to figure out and a lot of work but it's actually not and once you have a routine figured out it's no problem and really easy.