Blue Job or Blue Away chrome pipe cleaner. I got some very melted boot off of my wife's pipes with Blue Away. Picked it up at the dealership. But if your pipes aren't chrome I wouldn't use it.
Did the same on my V&H bss but I just left it alone (was durring rainy month and didn't care) and after a month it went through many heat cycles and finally dissapeared after turning dark brown. Didn't do any damage to crime either. Sometimes it pays to be lazy.
+1 on the steel wool but MAKE SURE IT'S 0000 STEEL WOOL.
Been told this by a number of pro's and done it a few times with absolutely no visible marks or scratches.
I was told to always use some sort of "lube" even if it's just WD-40 or water but oven cleaner should work even better. Check the label tho, proly wanna keep it off the paint.