Wear them in the shower.
Well, not exactly, but do shower with them.
If you put your tights or hose in the washer by themselves, it can be a real waste of water. If you put them in the washer with other things, they can be torn or stretched. You can put them in a hosiery-safe sack, but how can you be sure that they are getting the water circulation they need to be really clean.
One should never put hosiery in the dryer. (eh-hem, my husband-to-be)
The soap you use on your body should break down any dirt and oil (just like it does for your body) and not stretch or shrink your tights like a traditional washing machine does. Hang them over the side of the tub, the curtain rod or a hanger to dry.
Sorry to any male readers I have as this only applies if you are doing a woman's laundry or occasionally like to cross dress and wear tights. If I were a crossdresser, I'd never wear tights.