I've used a citrus solvent for this, with good results. I used something like this. Spray it on, rub it in, let it sit for a minute, and scrub it with a wet rag. Repeat if necessary.
Because this type of solvent has the capability of removing some clothing dyes, test a small amount on an inconspicuous spot before treating. On colored clothes, mixing the solvent in lukewarm water before applying it can help.