I haven't had the sunscreen directly stain clothing, but, sunscreen containing avobenzone will produce rust-like staining if clothes worn while wearing sunscreen is washed in hard (iron rich) water. Only thing I found to take those stains out was Bar Keepers Friend. I get the cream formula and have to scrub the stains in water with a brush, then WASH IMMEDIATLY (not in hard water), as Bar Keepers Friend is caustic to fabric.
other sunscreen ingredients like oxybenzone and octinoxate also contribute to staining.