Cleaning
After cooking, wipe the pan clean with a sheet of kitchen paper. Washing a burned-in pan with soap and water each time after cooking removes the oil and then you have to re-burn in the pan. The oil left in the pan is meant to prevent the food from sticking. So you don't have to use soap and water until your pan gets too dirty to use.
Proper cleaning
Clean a dirty pan with soap and water. Your burnt-in pan will eventually get dirty and full of food residue. It is then time to clean the pan, do this with warm water and a non-abrasive tool like a soft sponge or dishcloth. When the pan feels cold to the touch, wash it off. After washing up, immediately wipe your pan dry with a sheet of kitchen paper. This way there will be no stains in the pan.
Thorough cleaning
Remove stubborn, caked-on food residue by boiling water in the pan for 5 minutes. If there is still residue in the pan, put dishwashing liquid in the pan and cover the residue with water. Put the pan on the stove with high heat. Let the mixture in the pan boil for 5 minutes and then throw out the hot water. You should now be scrubbing away the last residue in no time. After this cleaning, the skillet does need to be refired.