Use easy off oven cleaner, cold version on cold pipes. Put it on at night just wipe it off in the morning, it's all I use.
I saw an ad, in Cycle World magazine, for Cobra brand exhaust that also claims Easy Off cold oven cleaner will be a spray on, let sit overnight, and wipe off in the morning way to get melted boot heels off of pipes.
The WD40 works like a charm. Warmed the bike up, sprayed WD40 on a wash cloth and applied elbow grease. I had one that really bad and didn't think I was going to be able to remove it. It took sometime and now the pipes look like new.
Boot marks will rub right off with a penny. Has never scratched my chrome shields but I polish it afterward anyway.
Amazing!!! I love the penny idea and it works! My ol man dropped a kitchen towel by mistake on the still hot tailpipe of his 04 HD softail deuce. Left the marks on the pipe for over a month thinking he was unable to remove it. I found this forum, saw this post and thought id give it a whirl and dang if it did work! Thank you. Pennies can be found almost anywhere on the go, so this is a great option!