Put the towels into the washing machine. Use hot water and set the load size to "large" so that the towels can move around freely in the machine.
Pour the normal amount of your regular laundry detergent into the wash along with 1 cup of baking soda, which will boost the cleaning and deodorizing power of your detergent.
Pour 1 cup of white vinegar into the wash at the beginning of the rinse cycle. This will deodorize and soften the towels.
Dry the towels as you normally would.