A good way to clean stuffed animals is to put them in a large plastic bag with a generous portion of dry baking soda. Tie the bag and let sit overnight. The baking soda will absorb odors. Open the bag and pour out the baking soda. Brush the animals with a fairly firm bristled brush to remove loose dirt.
Most stuffed animals can be cleaned by sending through the delicate wash cycle on your washing machine. If you think it may be too delicate, then you can wash it out in your sink with some mild detergent. Make sure you let them air dry when you get finished.