Well, if you have a steam system you could technically make a clothes dryer run on steam. Isolate the valves to your main piping and have a valve and associated piping run to the dryer. Your pressure control will operate normally, and you could install an aqua stat to maintain the desired dryer temperature (max would be your steam temp). You would also need a steam trap, and condensate line back to the boiler.
If you wish to use your legs to propel the dryer, get an exercise bike hooked to a reduction gear which would require less effort to keep rolling which would then tumble the clothes all while you watch Tv.
Heated water that is under pressure can flash to steam depending upon the pressure and temp of the water. So you can technically run the dryer off of flash steam on a hot water system, but you would need to get the water back to the system via a pump. You can run a heat exchanger in the firebox as well, thereby increasing the water temp.
Can it be done? Sure can if you want to go through all of that.