I think, without checking through all the answers posted here, my spontaneous answer would be: "Yes, I do. And if you want something washed, you need to ask me in a friendly way, please, or you may wait until it's in your drawer!"
Another response would be "Oh, you know, that would be great. You're welcome to go check in (wherever the hamper is) and bring the clothes (to the laundry room, to the basement door-- wherever they go."
If she replies she doesn't want to, then you can just tell her matter-of-factly "Oh, well I'm doing X now, and I'll be getting to the laundry in a bit."
Does anyone else in the house speak to you this way? Just wondering. :) (Sometimes children pick up on mom and dad speaking to each other, even if it's in a matter-of-fact way.)
Keep on modeling respectful ways of speaking. And a great book for helping to improve communication is "How to Talk So Kids Will Listen...and How to Listen So Kids Will Talk" by Faber and Mazlish. Especially if you are not the primary disciplinarian, this book has a lot of tools for conflict resolution that feel better for everyone. I love it and use these techniques with everyone, from my husband to my four y.o. son to the preschoolers I teach.
If it were me, everytime I was being "told" to do something, I'd try to include the child, or put it off if possible. I think there's a fine line between trying to 'make' a child sound respectful and just being clear that "You know, when you talk to me that way, I don't like it. You may ask me in a friendly way if you need help getting something done, or you may go play and come back when you are feeling friendly."
Some Mrs. Piggle-Wiggle will help too. It's such fun book, it allows kids to see their own bad habits from a safer perspective, and you'll have something fun to refer back to. "Oh, you sounded like Bossy Betty (or whatever the characters name is) in Mrs. Piggle-Wiggle! Let's try that again."
And of course, ignoring is always an option! Sometimes, that's all I have left!