Not familiar with the 6023 bearing, or the pulley it's in. The two bearings I came across were the 6203 & 6204.

Assuming you transposed the numbers, the bearing I bought from the dealer was the 6204 which is larger than the 6203. In both cases I placed the pulleys on a pair of wood blocks, placed a socket on the backside, and hit the socket with a BFH a few times. Both came out real easy.

With the 6204 you first need to remove the snap ring, but the 6203 did not have one.