you can стирать only your clothes. you can мыть everything (hands, car etc) except clothes.

стирать for the laundry мыть for everything else

Also, стирать - erease, wipe, dust Мыть - wash or cleaning something with water

but we say usually - стираться. - when there is no matter what you are going to laundry if you say стирать - you need to add what you are going to laundry - стирать бельё, рубашку , брюки , куртку.

Thanks Andrey!