I have used dial antibacterial soap in a pinch. Or shampoo.

Actually.. when I stayed at my boyfriends house for a few weeks and was on my period I had a few small accidents in my sleep. When I went to the bathroom in the morning I just washed my panties with shampoo in the sink and rolled them up in my dirty clothes (I usually fall asleep in the clothes I wore the day before) and he never noticed. It wouldn't have bothered me for him to see it, but it was just a courtesy because he did all of my laundry.