Those varnish deposit stains and build up can be removed with many brands of cleaners and motor flush products. There are many which are very aggressive and can damage older oil seals. A reliable brand that is not so aggressive is Seafoam High Mileage.
https://seafoamworks.com/product/high-m ... treatment/ You will need to run this in the engine for a week or so and then change your oil and filter. Much of the varnish will be removed but not likely all of it.
https://www.youtube.com/watch?v=XdJG0Gz ... amOfficial A second treatment, after the oil change, can be done to remove even more but you will need to change the oil and filter again after another week or so.