Boiling won't harm the fabric at all, during the weaving, dyeing, and finishing process the fabric is subjected to temps and pressure higher than anything you could do at home. However, if the applicaotrs have foam inside you can't do this.
For the future, always wash in hot water as soon as possible after use. Dedicated MF detergents are just repackaged degreasers, use regular liquid laundry detergent