der Waschlappen
washcloth
A small, usually square cloth made of terry cloth or a similar fabric that is used for washing the body.
Gib mir bitte mal den Waschlappen und die Seife.
Please pass me the washcloth and the soap.

washcloth / wimp
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washcloth
A small, usually square cloth made of terry cloth or a similar fabric that is used for washing the body.
Gib mir bitte mal den Waschlappen und die Seife.
Please pass me the washcloth and the soap.

'Waschlappen' is made up of the verb 'waschen' (to wash) and the noun 'der Lappen' (a piece of fabric, cloth). So it is literally a cloth for washing.
Für Babys benutzt man oft besonders weiche Waschlappen.
For babies, people often use especially soft washcloths.
You can recognize the meaning from context. If someone is talking about a person and their character (e.g., cowardly, weak), the insulting meaning is meant. If it is about an object in the bathroom, the cloth is meant.
Er traut sich nicht, vom Sprungbrett zu springen. So ein Waschlappen!
He doesn't dare jump off the diving board. What a wimp!
When 'Waschlappen' (wimp) describes a person, it is a colloquial and derogatory insult. It should only be used in very informal situations.
Er hat mich angelogen, dieser Waschlappen!
He lied to me, that wimp!
rag / license / wimp
'der Lappen' and 'der Waschlappen' are closely related, but they are not the same. As an object, a 'Lappen' is a piece of cloth used for cleaning, wiping, or drying. A 'Waschlappen' is more specific: you use it to wash the body. Both words can also be used derogatorily for a weak or cowardly person. In this sense, 'Waschlappen' is especially clearly an insult for someone seen as weak. Learners may confuse the words because 'Waschlappen' contains the word 'Lappen'. For personal hygiene, say 'Waschlappen'; for cleaning, usually just 'Lappen'.

Im Bad hängt ein frischer Waschlappen neben dem Waschbecken.
A fresh washcloth is hanging in the bathroom next to the sink.
Nach dem Frühstück wischt er die Arbeitsfläche mit einem Lappen ab.
After breakfast, he wipes the countertop with a cloth.