I don't take the tape off until after I profile the limb, so by that time any excess glue has been removed from the sides. I also wipe off the tape prior to glue up to make sure I don't have epoxy on it.
Most tape will come off easily if the bow is warmed up slightly. It doesn't take much heat to get the tape to ease its hold. 100 degrees should be plenty. On a warm day, I can generally pull it right off. If it is cool out or if the tape wants to stick really good, you can set the bow in the sun or put it in an open oven for a few minutes...or what I have found to be the easiest is to get a hair drier (my wife tends to leave it plugged in and ready anyway...lol). My 5 year old son loves pulling off the tape, so if I use a blow drier I only blow the heat on it for 10 seconds or so and get the tape started by scratching an edge up once on the tape once it is warm. You don't have to heat up the bow itself, just the tape. As he pulls off the tape, I lead him with the drier. Once it is started, I don't even have to go that slow. I can generally get the tape off in less than a minute. If I do it by myself I will run the drier back and forth to heat up the riser and one limb, pull the tape off down to the riser, heat up the other limb, and then finish pulling off the tape. Peace of cake.
Oh, BTW, I only use one layer of tape on each side of the bow. I have tried two layers and that definitely helped if the tape ever had epoxy on it, but now that I wipe off any epoxy that gets on the tape I don't have any issues with just one layer. Either the tan masking tape or the blue 3M tape works well for me when I do this.