How do you clean the grout on tiled ceramic floors effectively?
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Scentless Muriatic acid, open ventilation. Poor it in a mustard or catsup bottle with a pour spot. Wipe off and wash with a bit of dawn and warm water. Seal grout with oil base sealer afterwards. Use a face mask, such as you use when people are sick.
I understand your pain. I keep my house clean and my grout was changing color over time. I even tried bleach with no luck. I talked to a tile installer and he told me to use a ratio of 1:10 vinegar water and a deck brush. I started doing this. (Deck brushing the vinegar water on the tile, and then clean water mopping to get up the dirt.) I could start to see the dirt coming up. It takes a few times (especially if yours is exceptionally dirty) and you will see results. The acidity in the vinegar will eat away the grime - you could even do it stronger in the beginning and let it set, but be careful as the acidity can eat away the grout too.) My grout has restored to the original color and my tiles are great. I have been doing this for about 13 years now.
I would suggest that you "paint" the grout. You can find a product that is made for that purpose at the big box DIY stores or some tile stores. They will most likely carry a small number of colors, but you can order other colors (there is a chart showing the available colors). Just make sure the grout is cleaned and dry before painting. I used the product on a countertop and an entry floor with great success. Home Depot had a bottle with a brush on top that is made for this process. I have also used a toothbrush and Q-tips successfully. Depending on grout size, and a steady hand, you might be able to use a small paint brush. If it is really dirty looking you will most likely have to put two coats on, making sure it is dry before recoating. Be certain to keep paper toweling handy as you work to immediately clean off the colorant that will get on some tiles. I also sealed grout on a kitchen floor with a water-based varnish and that keeps the grout cleaner (water-based varnish doesn't yellow with age). But, I don't know how using varnish as a sealer would affect future dirt and grime because we moved a year after I had done the floor.
A cute story: The woman who had cleaned another house before I moved in visited after I had done the hall tile grout. She stood in the entry and looked at the floor then said, "The tile is the same, but the floor doesn't look the same" (I hadn't told her that I had colored the grout.)
Try hydrogen peroxide and a toothbrush
You can purchase a product by AquaMix called grout colorant. You can find it at most tile stores. In my previous house I could never get my grout to come clean all to one color, so I used this which was a taupe color and all my grout looked great when done. Didn't show dirt marks or anything.
I tried everything to get my grout clean and all one color and nothing worked except Aquamix. You're not going to like this answer, but I put it on with a toothbrush, it was time consuming but well worth the results. Just follow the instructions on the bottle. I did my utility room and my kitchen which was large, but tell you it was well worth it when it was finished. Here is what I used. I chose the Smoke color because my tiles were beige and it looked great.
https://www.ptsaquamix.com/p/aqua-mix-grout-colorant-8-oz-bottle/NAQM63006
The color doesn't wear off. Take your time, don't rush it and you will be pleased. I also used the white in my small bathroom and really made a difference.