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hair dryer if you doing it at home but a good bodyshop will get them off for a few quid & make sure you polish the bit the decal was on so its nice & clean for the new decal
Boil the kettle, make a bru... and whilst your at it poor the remaining hot water over the decal and peel. Works on most sign writing and the old go faster stripes and is quick and easy. Then clean off fully, making sure the surface is free from any dirt, grease, polish etc.
never pour boiling or hot water on a cold cars body, theirs a high chance the paints lacquer could scar or crack, just try the hairdryer its not going to be as hot as water & will slowly melt the glue on the decals.