I heard 'Aishah say that she would wash semen from the clothe of the Messenger of Allah (ﷺ). She added: Then I would see a mark or marks (after washing).
Sunan Abi Dawud Book 1, Hadith 373
← Previous Hadith 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.

Sunan Abi Dawud Book 1, Hadith 372 Next Hadith → Umm Qais daughter of Mihsan reported that she came to the Messenger of Allah (ﷺ) with her little son who had not attained the age of eating food. The Messenger of Allah (ﷺ) seated him in his lap, and he urinated on his clothe. He sent for water and sprayed it (over his clothe) and did not wash it.

Sunan Abi Dawud Book 1, Hadith 374