you can try to peel it off and then use GOO-Gone (it's a chemical solution that removes that waxy/sticky crap that makes tape stick. Works on squirrels too.). You can get the stuff from Home Depot.
Before you go hog ass wild with this stuff, you probably want to try it out on an unconspicuous spot in case it stains or discolors the paint (it shouldn't, but you never know.....)
You can also try heating it up with a hairdryer. That's what i used to peel the dealer stickers off of the trunk of my car. It might loosen the glue enough to peel off without leaving any crapola behid.