I used Natures Miracle for a long time and it seemed to get the odor out, but we had a cat who would continually go in the same area even after it was treated so I thought I would try something else. I went to the local pet store and they were playing a video on Perfect Solution. It has worked for me and the cat! It's different in that you boil 8 oz water in the microwave, add two TBSP of the pwd (2 for cats, 1tbsp for dogs), let it soak in and sit a while and then blot it up. no odor.
We have a 17 year old cat who does not always finish his poop in the litterbox, jumps out before he's done and leaves a trail. We haven't had the bed experience, thank goodness, but the 17 yr old sometimes falls asleep on my lap and sleep so heavy that when I would move to get up, he would dribble or more. Hope yours does not make it a habit of going on the bed.