Fill with water, cover all of the burned parts. Put some baking soda in the water, bring to a fast boil, then turn it off. Let it soak at least an hour. Every 5-10 minutes, take a utensil like a spatula/pancake turner with a flat end the is safe for the surface (e.g. soft if this is a non-stick pan or something) and give a light scrape, trying to scrape anything that has gotten saturated. When you can feel the bottom of the pan with the scraping utensil pour it out and then clean. If you have really caked on things, then you might have to repeat twice or let soak overnight before cleaning. You'll find that once the water can soak into the starch, that the starch will soften and expand and eventually lift off the pan. it's just a matter of how long it takes the water to soak into the starch. When it soaks in you do not have to scrub excessively hard. Time and water will clean better than a lot of effort.
If this is a stainless steel pan and you have black or discolor spots, SOS pads (specifically SOS, e,g, Brillo does not work as well), with a little water will take the black and brown streaks off.