Dawn makes a "power spray" that cleans the pans better and thus less scrubbing after a 5 minute soak- and also less sticking when used the next time.

Use some real vegetable oil on top of the pam.

Lower the heat under the pan, and stir more often. Where possible (rice, stew, etc) cook in oven rather than in the cookers- it seems to make a difference.

Rinse liner pans for cooking grains in cold water before filling with grains.

For low heat cooking (stays under 300, the crockpot or oven bag type liners can really help.

You may be able to find non-stick liners for some brands of cookers.