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heat gun, plastic putty knife.. Then to remove the sticky stuff / glue... I have a 3M eraser wheel, but this brand from grainger is the same thing... This works like magic! Put it on a drill, run it over the glue area, and it is all gone! Very quick, will NOT harm any surface, and no chemicals on the bike at all!
I have removed many badges from cars and door mouldings like this.