Fill a sink with hot water. Mix in mild dish detergent safe for stainless steel. Add a cup of vinegar to the water.
Submerge the stainless steel cookware in the vinegar and water solution. Allow it to set for two to four hours.
Use a wooden spoon to gently scrub away the food. Never use a steel wool pad or metal utensil to scrape food off of stainless steel cookware.
Remove the cookware from the water. Remove any excess food using a fabric scouring pad and a high-quality stainless steel cleaner. If you don't have a stainless steel cleaner, pour a teaspoon of olive oil onto a microfiber cloth. Rub down the stainless steel with the cloth. Wipe with a dry towel to remove excess oil.
Rinse the cookware thoroughly, and rewash it using a mild dish detergent and warm soapy water.
Allow the cookware to dry. If any discoloration remains, repeat the vinegar solution method.