´It was narrated that 'Aishah said:` "I often scraped it (semen) from the garment of the Messenger of Allah with my hand."
Explanation & Benefits
Maulana Ataullah Sajid
Commentary:
From this it is understood that removing semen (mani) from clothing with a fingernail or similar object is sufficient.
It is evident that in this case, some traces of it remain on the garment, but even so, the garment will still be considered pure and clean; washing is not necessary.
Source: Commentary on Sunan Ibn Mājah by Mawlānā ‘Atā’ullāh Sājid, Page: 537