Ace Hardware has something like a 5-in-1 painter's tool in plastic. As far as I know, manually removing the caulk is the preferred method.
To remove the residue that's left, you can try a product like Goo-Gone or Citra-Solv, I've read some people have had luck with them, but I've never used either in this type of application. If you do opt for a solvent, test an area first to ensure it won't damage your finish.
2000 Winnebago Brave SE 31B