There was one laundry room that I saw. It was on the first floor near the Spa and gym. There were 3 washing machines and 6 dryers. If you are a
DVC member you get free tokens. If not, I believe it takes about $1 per load for wash and $1 for dryer. I could be mistaken on that though.
You get towels for the pool every morning when you go down for your wrist band. I am not sure if they are allowed offsite but I don't think that is really monitored. The towels are not monitored as to whether or not they are turned in at the end of the day. Aulani seems to have a pretty liberal beach/pool towel policy.