We just had this same thing happen to our washer a couple of months ago.
I hate to tell you this, but the seal on your washer may be broken (basically letting water flush in and out of the motor part of the washer - that is oil on your clothes).
No fix for this. We had to purchase a new washing machine.
We did find out some interesting things. We had a front loading washer and didn't know you had to use HE detergent.
So, look into this. If this is what it is, you'll just continue ruining clothes.
Also, you might try some oxyclean on the stained clothes. It did help some and you may be able to salvage some of them.