Hi Libby is it the iron itself or an ironing board that is stained? If its the iron itself I would try a magic eraser.

Here ya go.

https://www.hometalk.com/1217260/diy-iron-cleaner-clean-your-burnt-iron

You can also try white toothpaste and a damp toothbrush. A dab of toothpaste on the brush. Let it foam as you brush

DIY Iron Cleaner- Clean Your Burnt Iron

Libby: I've used a product like this with good success

https://www.amazon.com/Rowenta-Non-Toxic-Stainless-Soleplate-Cleaner/dp/B0006V875S/ref=sr_1_6?keywords=iron+cleaner&qid=1580932231&sr=8-6

Make sure the iron is off and the heat plate is cool.

1. Mix a half cup of vinegar with a half cup of water.
2. Fold a rag or cotton ball and dip this into the vinegar and water solution.
3. Add a sprinkle of baking soda to the wet spot on the rag (this is your abrasive), and gentle begin scrubbing the burn stains.

Hi Libby, hope this video helps you out

https://www.youtube.com/watch?v=rQr7nr_j6Fs

That depends on whether the iron is stainless steel or teflon.

Some cleaners are too harsh for non-stick coatings.

Hi! I take an old washcloth or towel, wring out excess water after wetting it. Heat the iron. On a safe surface iron the heck out that cloth! Let the iron cool and then scrub it with a green scrubby. Repeat if needed.

We had an ironing lady years ago who would use the bars of sunlight soap. She would wet a tea towel and rub lots of the sunlight soap onto the cloth and then rub the hot iron over the soap then rub it onto a second rag for cleaning. She would swear by it.

https://www.hometalk.com/32592714/my-iron-is-ruined

I Thought My Iron Was Ruined!

There are some good tips here!

https://www.handy.com/blog/tips/how-to-clean-an-iron

Follow These Steps

1. Mix water and baking soda. Make a paste of 1 tablespoon water and 2 tablespoons baking soda.
2. Apply the paste to the iron. ...
3. Wipe iron clean. ...
4. Clean steam holes. ...
5. Re-fill the reservoir. ...
6. Turn on the steam. ...
7. Pour out the liquid.