usually some very light compound or even just some "cleaner wax" will take them off.
if you use a light/fine compound, make sure after you use the compound and take it off the paint, to use a wax to go back over it.
Meguiars (however you spell it) has a cleaner wax that i use for those types of things. I imagine it is a super fine compound and a lot easier to use. Also takes small dirt specs out of paint from everyday driving. after using that, go over the same areas with a good wax/sealer.