this should work......don't know how well since you already dried the clothes, but it has worked for me in the past:
1 cup of baking soda, 1 cup of water softener (Calgon) or whatever brand your store has. Fill the washer with warm water and let the machine agitate for about 2 minutes, until everything is dissolved in the water. Add the clothes and let them sit in the machine for 30 minutes, the add the regular amount of detergent and wash under the usual cycle. Check the clothes before you put them in the dryer....if the ink is not out, repeat this again.