If its dirty, soaking and Oxi-clean usually works. If its crumpled up, wash it, and use an iron while its still damp. Always iron finished pieces from the wrong side, and be very careful not to catch any loose thread.
Fibres should relax when the pressure = frame comes off.
If not: relax the fibres by making them wet or even soak them in water.
For aïda woven fabrics: you can help the fibres come back to their old shape by using a soft brush on the spots when it is still wet.
For evenweave (especially linen) the wetting should be enough. If you still see marks on evenweave after this, you can lightly stretch the fabric diagonally = from corner to corner when it is still wet.
Bleaching finished embroidery is never recommanded as far as I know.
Never use fabric softener. Do not use too much detergent.
If you want to work according to museum rules: rinse your work a lot with de-calcified and ionised water before letting it dry a bit on a flat surface. Then iron it from the back as BoingBoing advised.
Great advice above! But BEWARE!
If you use overdyed fabric or threads, dont wash your project or use steam on it!!! Overdyed fabrics and flosses WILL run and ruin all your hard work!
Instead, use no steam on your iron and press on low heat from the back side of the project with a white towel on top of the project.