Carboys: I'd do an oxiclean soak with hot water, and leave them overnight. Attack them with a brush if needed, rinse a bunch and you should be good.
Kegs: I'd pull out the dip tubes, posts, poppets. Fill the kegs with hot oxiclean, throw the long diptubes in there to soak with them. Get a few bowls or tupperware contrainers (keep the parts from each keg separate in case they're different style posts/poppets, and keep the lids with their respective kegs) and soak all the other pieces in hot oxiclean in those. Get a dip tube brush if you don't have one, and the next day scrub out the dip tubes and hit the kegs with the carboy brush. Everything else should clean up pretty easily, slap some new, lubed o-rings on there and you should be fine.