There are 3 different methods that you can try.
1) The most effective method would be to use a mixture of isopropyl alcohol and water. (google ipa solution for detailing)
Here is one article I've found: http://www.detailedimage.com/Ask-a-Pro/ask-a-pro-the-isopropyl-alcohol-ipa-wipedown/
2) Clay bar would also work to remove it. Use regular dish soap such as Dawn, mixed with water, as your clay lube works good. (also saves a lot of money instead of using regular clay lube)
3) If you don't have the time or patience to clay bar or use an IPA solution, dish soap, and water could be sufficient to remove all your old wax/sealant, but it would be the least effective method.