What I used is actually the Scotch brand Permanent Double Sided Tape in the 1/2" wide. The label is yellow, and it is pretty sticky but it peeled off the fabric really easily for me. I only used a 1/2" piece of it or smaller, so a little goes a long way, it seems.
I'm not a pre-washer so perhaps that helped it remove more easily from the fabric? I have a generic double sided tape somewhere else in the house so maybe I'll try that later too, but this is what worked for me this time!