Depends on the vinyl... if factory vinyl... honestly.... water. Soak it with water. Remove gently with the softest, thickest cloth you can find. If that doesn't work, as others have mentioned, try the diluted iso-alcohol. If that doesn't work, try diluted Goo Gone.
If it's a custom deal, it will depend on the vinyl quality and what coating is on top of the vinyl. In addition, it will also depend on how old the vinyl is. Newer vinyl is more pliable and can heal to a degree from things like this with GENTLE heat treatment. Vinyl that's 3+ years old, no such luck usually.