Use those "magic erasers" I would use the name brand toughest strength for those. My daughter had these black boots that made bad rubber marks on the kitchen floor, the magic erasers worked like magic!
You can use goof off product, but it does leave an oily residue some make sure to use a soap/water solution to get rid of the goof off.
Try a product called "Goof-Off." You can get it at Home Depot. Lowe's or in the hardware/paint department at Walmart etc. It removes just about any type of glue or adhesive.
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