Any upholstery cleaner from a detail supply company (ie: Adams, Chemical Guys, etc). I use Adams interior products and I've had good results. Just use the Interior and Upholstery Cleaner with the appropriate brush and most stains will come out. Some deep ones may require a machine.
DO NOT use APC or anything that will suds up. It will take forever to get out and usually require a steam cleaning machine and/or an extractor to get all that soap out.