Best way to clean burnt food from a teflon pan? ?

What is the best way to clean burnt food from a teflon pan? I tried boiling water.. and I was able to dab a lot of the stuff up with napkins, but it still remains along the sides.. and is a pain to get off. Is there any thing I could use on the pan that wouldn't ruin it, and preferably something that I wouldn't have to buy..?