Can't tell you how to clean it up, but I can tell you how to avoid it.
I put newspapers under my oem weatherproof floor mats. I also sit down and shake my boots/shoes against each other before bringing my legs in. Make sure you don't put such a thick layer that it starts to obstruct the pedals.
One of my pet peeves is when people get into my car with a sole full of snow and don't shake them off first.
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"Initial D and chill?"
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