Take out the inserts. Put each shoe in a delicates bag and the inserts in a separate delicates bag. Wash in the washing machine with COLD water. Add liquid laundry detergent and a half cup of white vinegar. Do NOT use the dryer. Let the shoes air dry.
I've been doing this for 15 years and it has never ruined a shoe. Sometimes I've washed shoes twice a week. In fact, I just washed my new Hoka Cavu this weekend and wore them this morning.
WARNING: If you toss the shoes in with other clothes without a bag, the shoelaces will wrap around everything, including the center drum. This can damage other clothing.
If you don't have a delicates bag and you're too lazy to buy some, then remove the shoelaces and handwash them while the shoes are in the washing machine being washed by themselves.
If you have some severe stains, spray them with Shout and rub the area with an old toothbrush. The white on the outsole will shine like new.