My favorite way is TSP (trisodium phosphate) wear goggles & gloves, clean with scrub brush & TSP. Rinse, then scrub with 000 steel wool.
OR
Muratic Acid Solution - 6 parts water to 1 part muratic acid. This is strong stuff. Open windows and vent well. Wear goggles & chemical resistant gloves. Again, apply Muratic Acid and scrub with scrub brush. Stains WILL disappear. Rinse several times.