Sounds like you have iron in your water. To see if that is so, pour a little water into a white container. Add a little bleach. If the water turns an amber color - you've got iron. I too have the same problem, but solved it in two ways.
First, eliminate using detergent that contains any type of bleach. I used to swear by Tide, only to find it contained bleach. In Canada, we have "Sunlight" detergent that does not contain bleach. What a difference it made to the laundry. Don't know if you have Sunlight, but read the labels. Same great result with the dishwasher by switching to ElectoSol without bleach.
The other, more expensive, solution is a water softener combined with an aerator. Don't soak anything in your water. If you must soak something, do it with bottled water.
