Spray it with some all purpose cleaner, knead the pad so that the cleaner begins to break down the products. Let sit for 5 minutes or so then submerge it in warm / hot water again kneading it so that the contaminates are dissolved and flushed out.
Depending on how soiled the pads are I might add a little all purpose cleaner to the hot water to give it more cleaning power.
Once you're satisfied rinse thoroughly in hot water and allow the pad to dry. I like to place my pads face down on a terrycloth towel and press them flat so the towel absorbs as much water as possible to aid in drying..