I start with a soft cloth, usually a rag terrycloth towel to wipe it off. Q-tips are good if you have some corners you can't get the towel into. I rarely need any kind of solvent or cleaning product to remove it.
I will echo the caution on Isopropyl Alcohol, or in fact any other solvent. Many of these will damage paint! I successfully wiped half the lettering off a tender with Isopropyl Alcohol in one swipe learning that lesson!
