Lots of hot water and scrubbing :-D safest way then wax the area afterwards to help recoat and protect the paint
Old topic but Ive dealt with this while working in a sign shop. The orange stuff is often known as goo gone and easily available at WalMart etc. Your best bet and I have never seen a reaction with the finish. If that dosent work then go with tupertine. You need to be carful though as I have seen noticable discoloration if you splash it on. Lastly, you can resort to a utility knife. I really dont recomend this, but I have used it very very carefully AND successfully as a last resort.