yeah if they are under paint, we are looking at a repaint somewhere along the line
otherwise a rubber drill attachment thingy will work great!
otherwise might have to use some cut and polish if very close to surface, or like 1200 grit sandpaper??!!!! + a good polish but I don't know about that
edit: I hate to think about having to use sandpaper... I used a hair dryer and a broken CD to warm them and just like scrape off gently