A quality citris cleaner should work well. Make sure its not a watered down version. Home improvement centers with have it. Use it with a soft mildly abrasive cloth or sponge. Apply to area let sit 10-15 mins and wipe. Repeated applications may be needed.
If its been there too long you may take the paint off and that would have to be repaired. Mr. Clean pads don't work well I tried that already myself.