Try putting shaving foam on, spread evenly over but enough to cover completely, leave for at least half an hour. If you have a brush attachment for your steam cleaner use that, if not wipe with a clean damp cloth to remove excess foam. Difficult stains may need a 2nd go. This may be enough, if not have a go with steam cleaner but try not to get it too wet! I suppose you could dry it off with a hairdryer but I’ve never done that.