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All-purpose clothing dyes are available at most big box stores. Rit, one of the most popular brands, is widely available in a large selection of colors. Dylon is another common brand. Craft stores carry a bigger selection of colors than  big box stores generally do. These dyes come in powder or liquid form, and either one will work just fine. You need to start with clean fabric, so wash it if you're using something you already have. It's a good idea to wash new fabric as well, just in case it has anything on it that could keep the dye from sticking. Don't dry the fabric, as you'll need it wet to dye it. Don't use fabric softener. The fabric needs to be completely wet so that the dye doesn't create a splotchy effect on the fabric. You can take the fabric out before the spin cycle or soak it in a tub before dyeing it to saturate it. If you put crumpled fabric in dye, you'll end up with a marbling effect. Unless you want a marbled look, use your hand to smooth out your fabric as much as you can before dyeing it.
Purchase a commercial dye from a big box store. Wash the fabric. Soak the fabric if it's not saturated with water. Smooth out the fabric.