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1) Cover the burnt area with equal parts vinegar and water.
2) Bring to a boil.
3) Reduce the heat to medium, add a bit of baking soda and continue to scrape the pot with a wooden spoon until all the burnt bits have loosened.
(Note: The amount you need may vary, but start with a heaping teaspoon of baking soda for every cup of liquid, adding more if necessary.)
4) Rinse well.
If you still have little spots with burnt food, just sprinkle in a bit of baking soda and scrub it away with a sponge—any leftover pieces should come off quite easily.
Now that cleanup is less of a fuss, you can go ahead and dirty those pans with these one-pot recipes.