There are a few different ways you can get ink out of clothing when the ink has dried.
Those ways are WD-40, Rubbing Alcohol and Acetone or Fingernail Polish Remover.
You can first try some rubbing alcohol by pouring some on the ink stain or soaking a sponge or cloth in the rubbing alcohol and dabbing the stain out.
You can also spray some WD-40 onto the dried ink stain and let it sit for awhile and then try dabbing the ink stain out or soak a cloth or sponge in some nail polish remover or Acetone and dab the stain as well.
Either of those should remove the dried ink stain from the clothing and then you can wash the clothing to clean the cleaning products out of the clothes.