I just carefully peeled up one corner with my fingernail ( if done carefully it wont hurt the paint) and pulled it off just like any other sticker. There was hardly any sticky stuff left but that was because my car was 6 month old when I did it. If there is some you can just take it off with soap and water.
if you do get the very edge up....you can make it easier by using a hair dryer to heat it up a little.....then remove any sticky residue with wd-40, or goo be gone, or soap and water.....
also if you want to go the real easy route....3M sells a product specifically for removing stickers off of cars painted surfaces...it comes in a spray can, but its about $10/can.....