The easy answer is to get ones that you can machine wash like everything else.  These days, that's most of them.

Even a lot of lace panties are reasonably machine-washable if you put them in mesh delicates bags (look up "delicates laundry bag" on Amazon for examples) for washing, and turn down the spin rate.

For those of you who venture into silk and other things that require handwashing, or simply want to be more gentle with your favorites, you will probably want to find a specific detergent for delicates.  Silk is one case where using a specialized detergent -- there are a number of good silk washing liquids available -- is important.  Good detergents and good care will keep your best lingerie lingering for years to come.

Cold water, delicate cycle and Woolite. This may seem excessive (or not) but I do my panty laundry every six weeks - yes, 42 pairs. My understand of washing machines has told me that one needs to have a full(ish) load of clothes for the machine to function correctly - hence the 42 pairs. I hang them on a drying rack in a spare room - never in the clothes dryer. That's it.