The official USPS website says that you just soak them in lukewarm water (the same as any other stamp), although in practice, I've noticed it takes a little longer and you've got to make sure they are soaked upside down. Even then, I've either had to manually scrap some leftover adhesive off or put some precut stock paper behind the stamp.
Linn's Stamp News has been covering this issue the past couple years. Basically the USPS no longer requires that their stamp paper be soakable and most current issues cannot be soaked. The only solution for collectors of used stamps it seems is to leave them on neatly trimmed paper or on cover if appropriate.
There are chemicals that have been used to remove most current US commemorative stamps (some where I read that the USPS considers commemorative stamps as souvenirs not expected to be used to mail letters) but the chemicals are to be used with caution. One chemist uses a ventilation system and gloves to work on the current US commemorative stamps. Art PS: I have not tried the chemicals on non-soakable French or Brazilian stamps. I have tried with mixed results on certain Italian Municipal revenues.
I was just reading the latest edition of Scott's Stamp Monthly about this issue and the latest position by the USPS is that they are no longer requiring the gum to be water soluable. This means for newer US self-adhesives you won't be able to soak them off the envelope they are stuck to without totally ruining the stamp. If you can get a copy you'll notice the USPS clearly snubs the stamp collecting community by saying that to properly serve those who utilize this service they cannot cater to any one group, especially stamp collectors.
I vote for pinking shears and paper left on the back. Trouble is that charity mixes are often cut too close. I have a neat shear from scrapbooking that makes the stamps look right in the album.
A soak in Shellite (or similar lighter fluid) removes self adhesive stamps from envelopes. The problem the becomes the adhesive which is still very sticky. A light dusting with talcum powder solves this problem. I'm sure there are other methods, as dealers often offer such stamps off paper.
the best thing to do is trim excess paper from around outsde edges of stamp and leave stamp intact on paper or boiling stamps in pot of water will remove paper to some extent
The best way to remove the latest U.S. stamps from paper is cigarette lighter fluid, it only takes about 15 to 20 seconds I put the stamp in a black plastic tray (such as a frozen dinner plate) in the small part of the tray and put in just enough lighter fluid to cover the stamp and the stamp will peel right off, then take a small jack-knive and scrape off the excess gum off, if any gum remains a little bit of talcum powder will help to remove the stickiness , do this on a smooth surface such as a small tile sample from the store you shop at... Practice with a few junk stamp to start out with and you will see how easy it is. P.S. I don't recommend letting your children use this method.