This is how I wash my cloth diapers:
1) cold rinse asap after removing diaper- I use the washer as my diaper pail and everytime I add one, I do a cold rinse
2) wash on hot with tsp detergent (current bottle is Tide Free & Clear), shake (tbsp) baking soda and some vinegar (2 tbsp) in the rinse (compartment where the fabric softener goes)
3) dry on hot for the longest cycle I have plus a little more
Since I developed this system, the diapers never stink anymore (I think the cold rinse is key). It works great!