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check out the restoration tips by our Pinoy TFPH member neilcdc of Australia.
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As per the discussion in this forum, it was with the use of H2O2. Hydrogen Peroxide ppl. And it works! Ive used it in my RiD Prowl who was reaaally yellowed when I came back last MArch'08 to migrate him here in OZ.
http://www.thetf.net/forum_posts-TID-13204-PN-1.htm
Here's the before and after pics. Almost bought a new one, thank goodness this was posted up in OZformers forum, saved me $20 getting a new one. Although it did bleach out the tampoed autosign on the hood, meh - easily fixed with stickers.
Before
and below is the AFTER
After
It took me a day and a half of it soaking under the sun in a bottle to get him to go to that whiteness. And no ill effects on the rubber as far as I can see, feel and tell.
Hope this helps... will try this on Lego as well to see if it works just as good.