If you just need them "pretty clean" you can put them in a jar of vinegar and swish them a bit. This vinegar can no longer be used for salad dressing, however!
I know Coca Cola works on pennies. You can soak a whole bunch at once too. I have a feeling it would deplete the value of collectible coins though, if that's what you want to clean.
DH had some old coins from his Grandpa that he wanted to cash in and thought he'd clean them up...well little did we know that depreciated the value. Now we take them in as-is.
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