Pick and scrape the caulk off your clothes with your fingers before it dries. It is possible to remove the majority of the caulk before it hardens. Pick off the bigger pieces with your fingers or a putty knife.
Wet the clothes, and place them in the freezer. Leave them in the freezer for two or three hours until the caulk is frozen. An alternative is to hold a piece of ice over the caulk until it freezes, which works as well but is more time consuming.
Remove the clothes from the freezer. The caulk is hardened and easy to pick off of the clothes. The caulk may have left some staining on the clothes.
Put the clothes in the washing machine. Use a regular detergent and wash cycle. If the clothes are white, add a little bleach to the wash and use hot water. Inspect the clothes once the washer stops. The clothes should be clean. If they are still stained, wash them one more time.