The most effective grout cleaners are available where you bought your tile. Most contain acid, either phosphoric or muriatic. Phosphoric acid does not generate the odors of muriatic (HCl) acid, but both are hazardous and require use of gloves and eye protection. A good grout sponge is also important. It is tougher than a kitchen sponge and has a soft and scrubbing side.
Follow label directions and always add acid to water, not the other way around. The grout should have been wiped to a haze during application, globs of grout may require use of a scraper blade to knock-off any chunks of residue if you did not adequately wipe down grout. The acid will easiliy dissolve the haze. Neutralize when done with clean water rinses. Baking soda is also a neutralizer.