I recently burned a pot of beans badly. My solution takes a long time, but it gets your house clean and removes the smell from all the small things that add up to that pervasive smell that seems to be everywhere (because it is).
I took pure white distilled vinegar on rags (you can dilute if you like, but I used full strength) and wiped down every square inch. This means walls, ceiling, fixtures, counters, cabinets (remove all items and give each one a wipe, wipe inside shelves top, underneath, sides, doors inside and out), doors, screens, pots, pans, windows, shelves, tables (legs, underneath, sides). Pay particular attention to the bottom of things, because we are not used to wiping the bottom of our shelves, tables, etc.
I left all doors and windows open with the only fan we have in the kitchen window pointed OUT to pull the smell out. I had other doors and windows open so the air being pushed out will be replaced by fresh air outside. You can also put a fan pointed AT the origin to push smells out, but I prefer the window method since if you push, it might just migrate to a different area of your house.
I keep a bowl of white vinegar on the back of my cooktop to help with cooking odors. If a closet or room smells musty, I'll put a bowl of white vinegar on a shelf and within a day, the musty smell will be gone.
