Espadrilles can’t be soaked in water, the jute soles react to the water making the sole hard and will cause it to lose shape afterwards.
Please treat your espadrilles with respect and you’ll have them for many years. If you are heavy on shoes, bear in mind, that the same would apply to espadrilles.
You can clean the upper (top part covering the foot) by hand. Simply slide your hand inside the shoe and, scoop water to dampen. Then use a mild detergent such as liquid soap and gently wash it. Do not use a brush when washing.
If your espadrilles are made of leather you can use a wet cloth to wipe it.