The first step is to apply cool water to the stained area as soon as possible. Then, pre-treat using an enzyme laundry detergent such as Wisk or Biz. Let sit for at least 30 minutes.
Rinse out the piece of baby clothing and then launder as usual in a regular was cycle.
Check to be sure the stain is removed before throwing the clothing in the dryer as stains that a "set-in" with the dryer are far harder to remove later on. If traces of the stain remain, do another round of pre-treatment.

