Yes see <A target="_blank" HREF=http://www.ctr.co.uk/silicone-sealant.html>http://www.ctr.co.uk/silicone-sealant.html</A>
and look for the section headed silicone sealant remover.
Breathtakingly simple method used by a top boatbuilder. Get a piece of 2x1 hardwood and you kind of chisel/rub it off. Works a treat and doesn't damage anything.