Scotch brite pad with soap of your choice.
Scotch Brite pad!? Eeeck!
At least start with something a bit less abrasive like a Magic Eraser or mild compound.
Sorry that's what I meant, wasn't thinking.
They live up to their name, I've worked some magic with them.
I have had good luck using a product called On/Off. It is an acid and takes off most marks. Acetone works well too. These products strip the wax so I follow up with hull wax