Laundry should be cold when coming out of the washing machine, they’ve just been rinsed several times in cold water. The temperature of the cold water varies throughout the year, so in winter the clothes should be a lot colder (and therefore feel wetter). In summer they should feel dryer and slightly warmer – but not "warm".
If washing comes out of the washing machine hot, or particularly warm then the most likely explanation is that they've been rinsed in hot water. This is caused when the cold valve is accidentally connected to the hot tap. It is surprising how many times I've come across this, and sometimes people have been using their washing machine for years like that. Needless to say it's very wasteful of hot water and causes the washing to come out quite creased. Sometimes the hoses appear to be connected to the right tap but because of a faulty installation it’s not
For a detailed explanation of how washing machines can end up connected to the hot supply by mistake see my white goods help article – Laundry comes out of washing machine badly creased?)
If washing is just coming out warm read this – Should the washing come out warm or cold?