On Mon, 2 Nov 2015 07:05:54 -0800 (PST), wrote:

Any of the chemicals to remove/dissolve it are worse than the foam.
Hot water and a scrubbing brush are your best choice.

A little sand paper will get most of it off and wont harm you either.
Just make sure the foam is dry before sanding it off, or you'll have a
bigger mess.