VERY CAREFULLY!
It is SO easy to knick or gouge the aluminum, never use a metal scraper. No power rotary tools with abrasive cloth wheels. They sell "gasket remover" at the auto parts stores but they have been watered down so much (in California anyway) they usually aren't worth the expense. And, when they were pretty effective, you had to be cautious not to get any into the cylinder anyway as it could etch the wall's finish which would effect ring contact.
I've found that a good quality furniture finish remover, painted on with a small brush with patience and accuracy, and then allowed to sit and work a few minutes, does about as good a job as anything.
Make sure your cylinders are all packed to the top with shop towels and use plastic scrappers.
Basically it's just one of those chores I lump together and call "doing the dishes" after a 50 guest barbecue.
If you run across an easier way, please let us all know!
Good luck!