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I simply use a hairdryer and peel back at a 120-140 degree angle to the surface. I have done this with factory decals as well. Separate letters can be tedious, but you have to work at it.
Odds are the decals are new vinyl, they should just peel right off, unless they have been there for years. If I have any residue, I just use the 3M eraser wheel. Quick and easy and no paint issues.