Conway Camargue Lots of Vangos. .
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Sleeping bags usually come with washing instructions depending on what they're made of. I'd happily wash a cotton faced sleeping bag in the machine but I haven't yet dared to give my DS's lightweight technical fabric sleeping bag more than a good airing between uses. It's best to air out sleeping bags completely when you return home, before storing them. If possible store them out of the bag, hung up, or loosely folded. If you store them in the stuffsack they may lose their loft, and if you store them damp they'll grow mould.
Most canvas outers, no matter what fabric they're made of, should be cleaned wit nothing more than a sponge and plain water. you can use a soft brush on a canvas tent to remove mud etc, it's best to stick with the sponge on synthetic fabric.
If an inner gets dirty and your washing machine is big enough give it a wash on a cold rinse cycle only, no detergent. if you have to use detergent because of some vile stain then use non bio and give the item a second rinse to gewt any residues of detergent out.
Just remember there's been more tents and camping equipment ruined by over-enthusiastic cleaning than by leaving well alone! So don't stress over small marks and keep cleaning to a necessary minimum.