I've used Goo Gone. I would do a test area, in an inconspicuous area, with whatever you decide to use to make sure it doesn't adversely affect your canvas.
2012 F150 FX4 Ecoboost, 2016 Surveyor 274BHS
2003 Yamaha FJR1300, Demco Premiere Slider
1969 John Deere 1020, 1940 Ford 9N, 1948 Ford 8N
Jonsered 535, Can of WD-40, Duct Tape
Red Green coffee mugs