The only method I've used to clean my washing machine is to put it on a hot water cycle with HEAPS of detergent (I use about 2 large scoops of OMO) then let it soak.
My washing machine is about 10 years old and has a 3 hour soak setting so the machine agitates every 20 seconds or so, and the lid stays down, which mean the water remains warm (and steamy) and the movement in the machine dislodges all the crap.
Usually the water comes out really really dirty, so either I don't do it often enough or it works a treat.
Cheers
Buddybee