I used to rub off the semen from the clothe of the Messenger of Allah ﷺ. He would would pray in it. Abu Dawud said: Mughirah, Abu Ma'shar, and Wasil also narrated it to the same effect. (Using translation from Abū Dāʾūd 372)
كُنْتُ أَفْرُكُ الْمَنِيَّ مِنْ ثَوْبِ رَسُولِ اللهِ ﷺ فَيُصَلِّي فِيهِ