Fill the reservoir pan with equal parts white vinegar and hot vinegar, completely covering any burnt sugar. Add 2 tablespoons of baking soda to the pan and stir to dissolve. Place the top rack portion of the pan in a sink in which you mix equal portions hot water and vinegar, completely covering the rack. Add 2 tablespoons of baking soda to the sink and stir to dissolve.
Wait for 30 minutes as the vinegar and baking soda work to dissolve the stains.
Wet a scrub pad with white vinegar and add a few drops of liquid dish soap.
Scrub the stains off both pans using the scrub pad. If there are areas on the rack you can't reach with the scrub pad, use a toothbrush dipped in white vinegar and baking soda to scrub away the stains.
Rinse the pans under hot water and dry them with a soft, clean cloth.