How do you get mildew off a baby stroller?

I have a Jeep Liberty Urban Terrain Stroller and I always keep it in my trunk and I went to get it out to go walking and noticed that it had mildew all over the front of it, the trunk must have leaked. The tag say do not machine wash, wash only with a damp towel. This cost a lot and I can't afford to trow it out. Does anyone know a way that I can get the mildew off so that's it's safe enough to use for my daughter.