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The vinegar method works pretty well, though I'd add that if your machine has a lot of buildup you might want to run that hot cycle twice - once with the vinegar sitting like mentioned above, then another full hot cycle right after to really flush everything out. The rubber gasket is definitely where gunk collects, so take a minute to wipe that down with a vinegar-soaked cloth while you're at it. Fair warning though, white vinegar smell lingers for a bit, but it disappears after a wash or two.
Run an empty cycle with hot water and two cups of white vinegar poured into the drum, let it sit for an hour if you can. Then run it through a full cycle. For the detergent dispenser and rubber gasket, use a brush and vinegar mixture to scrub out the mold and buildup. Do this once a month or so and your machine will stay pretty clean.
as others pointed out, the hot water plus vinegar cycle is solid - I'd just add that if your machine has that stubborn buildup smell, running a second vinegar cycle sometimes helps more than you'd expect. Also worth checking those hard-to-reach spots around the door seal while you're at it, since that's where mildew really likes to hide.
i've been doing this for years with my machine and it works great. as some answers noted the hot cycle with vinegar is the way to go, but i also like to run a second cycle right after with just hot water to rinse out any remaining vinegar smell - nobody wants laundry that smells like pickles. don't skip wiping down that rubber gasket either since thats where all the gunk really hides and can start smelling pretty nasty if you leave it.
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