Here's our schedule, which after many trials, works for our family of 4. M- whites and towels (I have two washing machines). T - colored clothes. W - whites and towels. TH - colored clothes. F - whites and towels. Saturday - sheets, comforters, pillow cases, etc. Sunday - day of rest for washing. All ironing for week done. (Keep in mind colored clothes go from Thursday - Tuesday without a wash, but this works for us, especially since we have work clothes/school clothes vs. weekend clothes.)
The ironing is very limited. DH does not require dress shirts. I will spot iron during the week, if the need arises and it seldom does.
I also use the same tricks that other posters mentioned, taking the clothes out of the dryer immediately and hanging it up.
As far as helping out - we have a schedule for that too ( We have a schedule for most all chores - It is a monthly schedule and it gets done the last Sunday of each month, during a family meeting/family time. - this lasts for about 20 minutes and it is MANDATORY - meaning we must find 20 minutes the last Sunday of every month to do it -times can vary.)
This month's schedule for this week: M - Mom T - Dad W - DD - TH -DS F - Mom Sat - DS (Dad and DD have dishwasher duty two days this week, Mom and DS only have it once - we rotate around with those chores - Dishwasher duty means - set table, clear table, empty and load Dishwasher, and take out garbage - we feel that is equal to laundry - which includes fold and put away.
Hope this helps or gives you some ideas.