The Book of Purification (Kitab Al-Taharah)
Muslim :: Book 2 : Hadith 570
'Amr b. Maimun said: I asked Sulaiman b. Yasir whether the semen that gets on to the garment of a person should be washed or not. He replied: A'isha told me: The Messenger of Allah (may peace be upon him) washed the semen, and then went out for prayer in that very garment and I saw the mark of washing on it.