Wash them in the washing machine by themselves in a delicates bag (unless you've got something else feral & dark to wash too, then throw that in the load too) and if you have a dryer, just put them in there on a warm cycle while still in the delicates bag (i'd hazard to guess that they might not fare too well with a hot cycle).
As i have a faired bike I usually put mine on the bike between the forks and the tank when i get home after a wet ride and let convection do its thing. This is usually enough, but sometimes it just doesn't quite cut it.