Don't know how you guys grout (especially what is this "sealer"?), but over here, the grout (which is already waterproof) is mixed with a water/strain proofing liquid instead of water. Never stains, even on the kitchen counter.
In any case, make a really concentrated solution of Vanish, the washing poweder thingy for whites, leave on overnight, then clean with a toothbrush.
Otherwise, there are erasers that work great on grout, made by UHU (comes in a box with an eraser for each type of surface).
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