Use your best judgement when it comes to rolling your clothes in a towel.
Delicate lace tops may do fine but underwired bras aren't as much of a good idea. And don't forget to keep sweaters in their original position as they dry because they stretch very easily.
Last but not least, wash the light colored items first, as not to tint the detergent water with fabric dyes.
While washing by hand preserves the color of your delicate garments, they'll bleed in the wash for longer. Take it from me, washing a nude bra right after a hunter green top isn't a good idea!