LaundryTimers provides a pair of timers. It is intended to notify you when the wash or dry cycles are complete, but they can be used for any purpose. One touch will allow you to select the time for the appropriate washer cycle and another will select the appropriate dryer cycle. These can be customized for any model of washer or dryer.
You are alerted with different tunes for washer and dryer. If the app is not active, you will also get a notification on your lock screen.
The non-free version (LaundryTimers) does not have any ads.
This is written for IOS 7 or later.