Also use the magic eraser. Works well, but the erasers get pretty chewed up. I get about two cleanings out of an eraser, and there are two erasers in a pack.
Hit the Magic Eraser with Shout! laundry stain remover first and it will be a bit easier, although the magic erasers do get chewed up. You don't really need to press hard. Keep wetting the eraser and wringing it out.
If you do a search first you can get the answer to a lot of your questions. Try Wesley's tire bleach cleaner, spray it on, use a stiff brush, then just rinse off.