if you pop the pieces from the door handles off, the soft touch comes off pretty well with the green scrubby side of the sponge with soap and water. After you get most of that crap off, if there is any sticky adhesive junk left, wipe it off using some isopropyl rubbing alcohol and it should come off
As for the radio surrounding pieces and cupholder lid... its a huge pain to get that off because it is attached to the cage holding in the radio and cd player... but it can be removed and scrubbed to look like flat black plastic. Or you can get fancy!
heres what i did to my car a couple weeks ago concerning the same problem