Yep, rubbing compound or maguire's cleaner wax removes paint transfer and scuffs extremely easily.

I'd try the cleaner wax first as you won't have to polish/wax after. with rubbing compound it may leave micro-scratches depending on the pressure and grit of the compound.

The other option is a misting with goo-gone or goof-off. Mr Clean magic erasers work wonders as well without harming the paint.

__________________
Current Bimmer
2004 X5 4.4i Sterling Grey Sport/Premium

Past Bimmers
1991 318I Alpine White
1995 740I Alpine White
1991 525I Schwartz
1998 323IS Scwartz
2004 330CI Cabrio Titanium Silver Metallic
1995 540I Schwartz
2000 Z4 3.0 Titanium Silver
2000 330ci Coupe Titanium Silver