After you have used your baby bottles, just fill them with warm water and add 1 teaspoon of baking soda (Bicarbonate of Soda). Shake, rinse and thoroughly clean as usual using your scrub brush.
If you have a bunch of bottles that need cleaned you can also soak bottles, nipples or bottle brushes overnight in a Baking Soda solution of 4 tablespoons of Baking Soda to 1 quart of warm water so you have a bit of time to take care of other things. In the morning or when you have the time you can rinse and clean as usual leaving those sour smells a thing of the past!