ur,

3M makes a special solvent for removing this stuff. It literally crystalizes the glue and you take it off layer after layer and it won't hurt the paint at all.

If you go to a good part store ask them for the 3M stuff to remove trim with. OR you can look at the 3M trim tape and it will tell you what to remove the old stuff with ...
Or look at this link
3M
Wow... that was a long link.

OR... You can use this tape strip wheel some feller mentioned above.
3M

Again long link!

Spot
2007 Tacoma Off road Double Cab
VSC, DAC, Side air bags, Snugtop, tinted front windows, Westin Platinum steps, weathertech mats, coverking seat covers, bed mat, tow package, dimming mirror.