There is a thread here in this section of the forum that touches on this subject. Its the "How to get Heel mark off pipe" thread. I copied and pasted my post from there to here. No need to retype everything twice.

Before trying some of the more aggressive suggestions like using Acid, Goo, Razorblade, and such, try cleaning the burn mark area first with a good degreaser (GLARE Turbo Action Wheel Cleaner is an Excellent choice since it is a non acid formula). Next give the burn mark a good rubdown using the GLARE Knockout Compound, dig deep to get it all out. That normally works 9 out of ten times, and its always best to try the safer route first before trying something that could scratch up and ruin your pipes like razorblades, acid and what not. In the worst case scenario if it doesn't work, you'll have the best scratch and oxidation remover for your paint in your arsenal for when you need it, then you can always try plan B which would be the razorblade and some acid LOL! (and even if you do in fact have to resort to plan B you can use the GLARE Knockout to remove any residual burn stains that may be left on the pipe). But Im sure that it will work and that you wont have to resort to plan B and bust out the blowtorch. LOL!

You can buy it here.
www.glare.com