If you have limited tools, i think this would work.
Fishing line, saw back and forth to get emblem itself off.
hairdryer or heat gun. just be careful with heatgun.
than use some WD40, or something that wont damage paint to get the sticky foam stuff off.
than wash it, scrub it and buff it and it should look nice.

^ thats how i got the emblems off my old tailgate.