I always line with foil when I make sticky dessert in the DO. The best way to clean is with boiling or very hot water. You may have to soak it a bit to get the burnt spot off. I use a plastic scraper. Also, you can use salt as a scouring powder.
2016 Jayco Whitehawk 27DSRL
2010 Ford F-150 XLT Supercrew with Max Tow