Vinyl can be removed by gently heating, with a heat gun, or hair dryer. Then slide a piece of card under the lettering to ease it off the paintwork.
Badges and emblems can be removed by gently heating the badge, with a heat gun, or hair dryer. Then slide either dental floss or fishing wire under the emblem. Note that the Toyota MKI badge/emblem is bonded and pinned on.
Clean the area up with some WD40 or isopropyl achohol. Clean up with some Meguiars ScratchX.