Use a heat gun and be carefull, heat it slow and lots of back and forth movement. be carefull not to heat something else by mistake. A Heat Gun will melt the adhesive and you should be able to peal that off too. If adhesive is left on the fork use bug and tar remover or some other good goo cleaner and elbow grease.
Cheap heat guns can be had at Harbor Freight. Got mine for $12.
OR, just leave them in place just in case they help someone see you and avoid being hit. (now everyone can say, "Yes Dad")