...without taking the finish off?
Goo Gone should work. Murphy's Oil Soap is a good wood cleaner.
Use any oil (baby oil, vegetable oil, etc) to remove the residue, followed by a spray of Windex to remove the oil.
Marian, it really isn't hard to do, I just do a couple of cabinets a day until the job is completely finished.
Hi Marian! I use Dawn dish detergent mixed in warm water (in a bucket, dishpan or bowl). I use a Magic eraser and microfiber cloths. It will come off. If you have grooves or details to clean, use a soft toothbrush.
It's best to remove the handles to clean the entire cabinets to give a fresh clean look.
Clean with 1 part white vinegar , 1 part warm water and several drops of liquid lemon dish washing soap, rinse it off with a microfiber cloth using warm/cold water. Finally, wipe it dry with another microfiber cloth to protect the finish.
It works for me before I start a project for my client's kitchen cabinet.