Yes, they come off. Easy? That's debatable. They're held on by a strong double-sided foam tape.
Removal is a two step process...
1) Use fishing twine to get underneath the piece and cut the foam. This will get the piece off the door.
2) Remove the remaining foam/adhesive. This takes PATIENCE. The adhesive will come off, but it's a slow and tedious process. It can be rolled back with your fingers. It will come off cleanly, but it's slow. Some folks will recommend the 3M eraser wheel in a cordless drill, but you have to be really careful about damaging/overheating the paint.
You can use something like Goo gone to help, but I found that just made it harder to roll the adhesive off. I just used my fingers. It took a few hours and my fingers were sore.