No heat needed. Get it started w/ your fingernail and just pull. I found it helps to pull it similar to how you pull the 3M hooks from walls, stretching the sticker as it comes off. Does a better job of pulling the glue with it.
Normal citrus-y Goo Gone afterwards (the citrusy one, not the xylene / toluene or whatever one) along with something non-abrasive like a soft towel.
That's all it took for me, and a wash and wax afterwards to remove the Goo Gone. Easy.