I use a product called "road rub" or something to that from my local dealer and it works great.
If Road Rub is the stuff that looks like a little deodorant stick and it's white, my friend just showed me the stuff a few weeks ago. That chit worked like magic. I just checked and that's what it's called. This is their website:
http://vanlark.com/ As it says, they don't sell it direct to individuals, and it says you'll need to contact your dealer to ask for it. My friend told me he's stopped yelling at his girlfriend for getting her boots on the pipes every time they ride, since it just takes a few seconds to get rid of the marks now. I'll have to remember to grab one for my saddlebag.