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I worked at Gap before, and learned from other Jean experts from other retail stores (Guess, Roots, Levis, Bootlegger, etc.)

Simply wash your jeans inside out under cold water.
The reason I wash them inside out is to prevent the outside being exposed to rubbing against other fabric while in the washing machine.
It also maintains the same material without no fade and no soften. Trust me, I remember washing my jeans right side up, and after about 10 washes, they felt so soft after. I like keeping my jeans the same condition as how they were purchased in the first place.

Next is using cold water. COLD WATER. rule of thumb. Warm water expands the material in the jean, stretching them and ruining the fabric.

Next is drying them. I hang dry. Simple. This prevents shrinkage and deterioration of the fabric.