Wait for a hot day and let your car bake in the sun for awhile, or use a hair dryer to heat the emblems up. Once the adhesive is warmed up, it's easy to saw through it with some fishing line.
The Toyota "sombrero" badges are usually pegged, so if you remove you'd leave holes. The "Toyota", "LE", "XLE", and "V6" emblems are usually just taped, though some of the Gen3s had pegs on some of those too.
After you remove the badges, wash the area good before you take the tape residue off so you don't grind dirt into your paint while removing it. You can take the residue off with Goo Gone, Goof Off, etc. on a soft cloth. Whatever you use, don't let it sit on the paint for long. After you get all the residue off, wash again to get all the solvent off the paint. Then polish and wax the area.
You might (or might not) have ghost images of the badges but after you've waxed you probably won't be able to see them unless you're looking for them.
Here's the back of my '95 after removing the Toyota, XLE, and V6 badges. pinstripe and a black tape dealer emblem. I've got ghosting where the pinstripe and dealer emblem were, but nobody sees it unless I point it out.
Before
After