Things can get humid in Virginia so we have seen a lot of remedies for keeping camping gear mildew free. Of course, the best action to take is a preventative one in warding off mildew before it gets a chance to take hold. We find the best preventatives of all are sun and air. Mildew is just begging for a dark, moist place to grow and fresh air & sunshine are the superhero elements that can foil its evil plans.
Make sure towels, jackets, and blankets are spread out to dry. If they are bunched up and even slightly damp it will give mildew just the environment it needs to take hold. If you are a tent camper be sure to spread the tent out as soon as you get home. Leave it in a sunny or breezy area for long enough to make sure it is completely dry before folding it up for storage. Most of us have had the experience of unwrapping a tent that had been put away wet and found how unpleasant that can be.
If you are in an RV you might want to consider a de-humidifier during the more humid months of July and August. It can cut down on mildew building up inside the rig which is not only annoying but can also trigger alergies in many people.
Once you have mold on your equipment and are attempting to remove it, it is necessary to give it a good scrub. You can begin with a soft brush but be careful. The mildew spores will fly and can cause respiratory problems in some people. We have seen people use bleach or ammonia, mixed with water (never mix bleach and ammonia together, though, because it creates a toxic chemical cloud) or lemon juice in a spray bottle. There are commercial solvents available and all of these will work to kill the spores though they may not remove the stain. Once you get the mildew out of the piece you can protect it from further assult by making sure it is good and dry before packing it away next time.