Special cleaning supplies for cat urine have enzymes that break down the proteins that make it stinky. Best course of action is to blot up as much urine as possible, then saturate the stains in something like Nature's Miracle, then launder cold. Sniff, and if it still smells like cat pee redo the process before putting it through the dryer.

(My cat has separation anxiety and pees on my clothes or bed if I'm gone too long, so I have way too much experience unfortunately)

Edit: he's cute enough to get away with it though (and he tucks himself under the blankets, I don't do it for him)