How do I teach my child responsibilty and to clean up after herself?

You can try getting her to organize her toys. Meaning let her choose which toys go into which box/container and make it clear to her that from then on, it is her responsibility to make sure the toys are in their "homes" after she takes them out to play. Also, can try having a race with her to see who picks up the most number of toys within a certain period of time. Another way is to let her organize her own wardrobes. Most children like to help their parents when they see them doing chores. You can get her to fold her own clothes and keep them in her wardrobe in whichever way she fancy. That way, she will feel more "grown up" and pick up being responsible for her things. Other household chores that she can help with are wiping surfaces, setting the table, clearing the tables etc. Play music, sing and dance during these chores will make it more fun and interesting for a child.