I just cleaned all the cushions on my dinette set. Took them out of the RV, set them on sawhorses and used the upholstery attachment from my carpet cleaning machine. I really soaked them (knowing I was probably going to incur some type of damage). They cleaned beautifully and were dry in a couple of hours. I did not remove them from the foam. I used Wal Mart's carpet cleaning solution. Feeling brave, I took the machine inside and cleaned the sofa in the same manner. Again, great results.
2012 Dodge Ram 2500, Cummins turbo diesel, 6 speed, 4X4, tow package
2014 Jayco FW Eagle HT 26.5 RLS
Yamaha EF2400iS gen