Can I get my friend to pay for gas and parking?
Why do you want your friend to pay for gas and parking?
He didn't wash my car when I had asked him to do it.
I think that is pretty mean of you. It's inappropriate to ask people to pay for something you didn't tell them about. Just because he didn't do a task doesn't mean he should give you money to pay for things you need.
He should have washed my car then.
If it is your car it is your responsibility. Next time you take a trip you can make it clear you would like gas money from everyone to share the burden of cost.