How to clean utensils used to cook raw ground beef that have been left in the sink overnight?
Wash everything in very hot water, with dish soap, and rinse thoroughly.  Unless there are at risk people in your home, this should be sufficient.

If you are very concerned, you can make a sanitizing agent by diluting bleach.  The ratio would be about 1 tablespoon of bleach to one gallon of water, per this Oklahoma State University shared from UC Davis:


  [...] about one tablespoon (1/2 fluid ounce, 15  ml) of
  typical chlorine bleach per gallon of water is the maximum  that
  should be used for sanitizing food contact surfaces, according  to
  federal regulation. If higher concentrations are used, the surface 
  must be rinsed with potable water after sanitizing. Contact times of 
  one to five minutes are usually sufficient to achieve a thorough kill,
  depending on chlorine concentration and organic load.