I removed all the decals from my coach, after a little less than a year of it rolling off the factory floor - before they had faded or peeled. It left a little bit of residue on the edges, which I've been cleaning off with Goo Gone. It works okay, it just takes a bit of soaking and elbow grease. The tough part is that it needs to sit on the glue for 10 to 15 minutes before you start trying to rub it off, and the surface you're doing is vertical. A paper towel soaked in it helps, but it's slow going. There's a similar product called Goof Off that I think would work better, I just haven't had a chance to pick some up yet.
Looks much better...