Does the sperm dies when it is washed with water and soap?

Yes, unless you are talking about in your vagina. Sperm dies after a few seconds out in the open. If you are asking about sperm that may have reached an awkward location, like a towel, clothing, a bed, or a plastic chair, then don't worry, you are not going to impregnate anyone. On the other hand, if it is in a vagina, the damage is done.