the fabric of the papasan swing should come right off of the frame. we used to take ours off and wash it all the time. the gauzy canopy I'm not sure it it comes off or not, and unfortunately ive never used a rock n play.

If I wasn't nursing my baby I would show you because I actually have my swing and that other thingy taken apart because I washed and sanitized everything.

I take them apart and wash fabric In Dreft and wipe down metal and plastic parts with Lysol wipes.

You can pop the fabric off pretty sure and clean it in a washer just google how to