Sing a song related to the task! Songs are mnemonic and help children to retain information. It's more appealing than words and builds rituals. A tidy up song you create or one from Youtube.
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Give some warning that a transition is coming up... "Tidy up time is in 5 minutes".
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Add in an element of play to tidy up time... Children are more likely to return to any activity that was fun.
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Have visually labelled baskets where things have a home rather than mixed up containers.
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Try playing beat the clock, or using a sand timer to help stay on track.
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Avoid having too much clutter in general, consider rotating toys and reducing the amount available.