The low melting point of soy wax makes the material easy to remove if the candle drips onto another surface.
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Wet a clean cloth with hot water. Press firmly into the wax stain so the heat from the cloth will melt the wax, and the cloth itself will absorb the melted wax.
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Lay a dry, clean cloth over the soy wax, if the hot water did not remove it. Turn an iron onto a medium setting and run it over the clean cloth. The heat from the iron will melt the wax, and the cloth will absorb the stain.
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Scrape the wax off with the sharp edge of a credit card, if the wax has dripped onto tile or another hard surface that you cannot easily scratch.