Hedgie boy mess does not come of easily. Texie passed over a year ago, the girls now have some of his fleece; ie, it's been washed dozens of times... It is still there. Kid once stuck himself to himself. Must have fallen asleep with his front foot on his belly right after completion... When I found him, he couldn't walk. It took soaking and gently prying.
Do what you can with a warm damp washcloth... Not hot. Not wet. Just warm and damp. And your fingers/fingernails. It will likely take several sessions and still not be perfect. Slow and steady wins the race with this type of situation.