Soak them in HOT water with some dishsoap and a decent amount of vinegar. When the water is no longer hot but just slightly warm, scrub them with a gentle scrubbie and some baking soda. If you need a stronger scrub, mix equal parts baking soda, sea salt and washing soda. Repeat the process as needed.
This works well for me and I don’t usually need to repeat the process but I don’t know what type of water you have and if the minerals in your water are very different, it may not work as well.
HTH,
Miranda