I have a painted aluminum roof, but I think this will work for you also as I use the same cleaning solution on the fiberglass sides also. It does require a pressure washer for the least effort (but not on the sides with decals). You could scrub with a long handled brush if you don't have a pressure washer.
From the big box home improvement store, buy a gallon of "JOMAX". It's designed as a cleaner for the outside of houses. Use the formula on the jomax jug, and add the correct portions of jomax, clorox, and water to a pump up garden sprayer.
Wet down the sides of the motorhome with plain water to lessen the impact of the solution to be used on the roof.
Spray the mix on the roof, and wait about 10 minutes.
Wear shoes that will provide traction on a wet surface as the roof will be a little bit slippery.
Use a pressure washer to wash off the roof. Be careful to not point the pressure washer directly at a vent opening. I use a 3000 psi washer with a 20 degree nozzle. As an alternate method, you can scrub with a soft to medium bristle long handled brush, then rinse.
Normally, this will clean a badly stained roof with one application. I use this method to clean the fiberglass boat every spring also.
Fred