Fill the pan with hot water and a few drops of dish soap
Let it soak for 15 to 30 minutes
Scrub with a non-abrasive sponge or brush
Sprinkle baking soda over the burnt area
Add a little water to make a paste
Let the paste sit for 10 to 15 minutes
Scrub again
Boil water and dish soap in the pan for several minutes
Use a wooden or silicone spatula to loosen stuck bits
For stubborn spots, add vinegar and baking soda
Rinse thoroughly
Repeat if needed
Dry the pan completely after cleaning