I just cleaned a bunch of melted bike cover off my pipes so I had to repost - I had about 3"X2" on my header pipes and I remembered to get them whil it was hot and the 0000steel wool took about 3 seconds. Getting it while it was hot was the key.
Not that I know of, but there might be. When you think about it though, it would have to be pretty caustic stuff if you are expecting it to eat rubber which is generally solvent resistant. I doubt you can do better than steel wool and/or a sharp razor blade.