You can do a pretty good job with soap and a high-pressure water, as long as you rinse it right away. As I mentioned in a comment on @BrianV's answer, Percarbonate dissolves best when the water is 140°F or higher, but the plastic they use in a lot of racking canes (esp. the auto-siphon) will begin to get cracks in it very quickly if you clean it with hot water. If you use hot water, you will go through a lot of plastic racking canes, because once they get cracks they can harbor bacteria. A wallpaper tray can be helpful if soaking.
I try to use cool to lukewarm water when cleaning my autosiphon. Using a high-pressure water stream helps. Two easy ways to do this are with a 'jet' bottle washer faucet attachment or a 'sweeper' garden hose attachment. The Jet on the sink may be tough, for practical reasons of spraying the water everywhere.
Another option is to get a stainless steel racking cane, then you can use oxiclean, PBW and any temp water.