Yup, use a heat gun (aka hair-dryer) to soften the adhesive. Service procedure suggests 100 degrees F. Then pull the plastic off. For the residual goo removal I have had great success with 3M Brand Adhesive remover. I don't have the part number but it's a red and white can and I got it at the local marine/boat store.
As far as restoring the black plastic, I have heard of better (Meguiar's?) products now that actually DO restore the plastic, and don't just cover it up and make it look pretty for a week. I'll post if I find out more.