Anti-freeze is water soluble, so soap and water should take it out. You may have trouble with the dye staining clothes though, a pre-wash soak or small amount of color-safe bleach may help.
I washed the item twice with regular laundry soap and added a little dawn...This did the trick for me.Make sure you don't wash the item that has the antifreeze with other clothes.
I hate it when things like this happen, so no longer do any auto repairs in the living room. It's better to use a room with an antifreeze colored carpet.