If you can take them out, either a dry cleaner or washer will do it. We use dry cleaners to clean dirty skydiving gear (containers/rigs). I trust my life to the same nylon webbing seat belts are made of.
I just did a set and used a combination of Simple Green and cascade dishwashing det. I first sprayed the belts with SG then scrubbed them with a Cascade and hot water solution,rinsed then hung to dry. This may have been overkill, but it worked excellent
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