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I've used WD40. Spray it on and let it soak in for a few minutes. Then I wipe it off with your finger. Works good on bugs stuck to the front of your truck also.
For me, and with a Wal-Mart store being within spitting distance of every human on the Earth. I use Stoner's Tarminator. It's a very good product. Again, readily available, and does what it claims.
Let the chemical do the work or dwell for a couple minuets. Then wipe, not scrub. You'll also need to re-wax where you've used [any] chemical.