Along with Chuck's advice I'll add, acetone as a solvent and steam cleaning as methods for removing the residue.
Are you talking about gas tanks or just plain gas cans? If "tanks" then yes it may be cost effective to try to save them. If "cans" then I'd strongly consider replacing them with a current style "can". I'm old school and the newer cans with their new safer designs were a bit foreign to me and I wasn't sure I'd like them. I resisted buying any till I had too. Now I like them, mostly. I still don't like the fact that they don't vent, while just sitting around. Temp swings will bloat them up and cave them in, so I try to store them where the temperature changes will be the least.
That said, I like the new style cans and don't miss the spillage issues (when pouring out of) associated with an old style cans. Besides, the price of a new can may be offset by the savings from any engine fuel related repairs due to dirty fuel cans.
Oh, if you decide to clean, don't use steel wool. Dump in some large steel shot (not lead) that can be rolled around like the steel ball in a can of spray paint. The steel shot can be easily dumped out when done or retrieved with a magnet.