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You will find a laundry on the 5th & 7th floors of the Miracle. Make sure to bring alot of quarters with you b/c there are no change machines in the room & they do not accept your sign & sail card. They have detergent & softener there so no need to bring your own.
The laundry room on the Empress deck was the most fwd area of the port side. Like others said, quarters only. The Pursers desk will give you change. It was behind a door that said crew only, so it's not something you'd typically find yourself without asking.