What I do
Once I remove them from the Emptor, I turn them inside out and use a Kirby Zippbrush to get the embedded dust, dirt, and detritus from the bag. I then use the crevice tool to get the dirt in the seams' crevices.
Next, for a bag that was not too dirty, I will use a Kirby as a portable shampooer to shampoo the inside of the bag with Kirby Carpet Shampoo. Depending on the soil level, you can use a clean white cloth or clean, relatively soft-bristle brush to work the suds into the bag. I then let it hang dry and once dry, I use a Zippbrush again to remove the trapped dirt and dried suds from the bag. Comes out bright and smells great!
If the bag is really dirty or splotchy, or if it's a refurbishment, I will use warm water in a bucket with Woolite. I hand agitate and gently scrub the bag against itself to remove built up gunk. I dump the dirty water and refill with warm water, and hand agitate and scrub again to rinse the detergent out. I then let it air dry.
I hope this helps!