I used paint thinner and lots of scrubbing with a towel. Let the thinner soak in to soften the label. It did not change the color or texture of my black cloth visors. The thinner scent stuck around for a few days though. I hate those "death" stickers. I've removed them from every car I have owned. Did the same on my 04' M3 cabriolet.

__________________
2013 X5 3.5i M Sport
2004 M3 cabriolet SMG