To clean floor mats that have had milk spilled on them, you can follow these steps: Remove the floor mats from the car. Shake off any excess milk or debris. Rinse the floor mats with water to remove as much milk as possible. Apply a mild detergent or carpet cleaner to the affected areas. Scrub the mats gently with a brush or sponge. Rinse the mats thoroughly with clean water. Allow the mats to dry completely before placing them back in the car.