From what you're describing, it shouldn't be a big issue. Grab a Magic Eraser and either some Griots Speed Shine or Meguiars Ultimate Quick Detailer. Clean the area generally by using the detail spray and a microfiber rag. Then, spray the detailer on the area and GENTLY rub the magic eraser over it. That should remove the paint scuffs. Start very lightly and go slightly harder as needed. The Magic Eraser is abrasive but it isn't strong enough to cut through paint; just scuff it a little.
What you should be left with is haze marks around the area where you removed the paint transfer. From there, take some Meguiars Ultimate Polish and apply with a foam pad. Use some elbow grease. Then buff with a clean microfiber rag. The spots should be like new.
I've used this technique successfully several times. It won't remove deep scratches and if there is significant paint (clear coat or color) missing, you'll need to get a professional to repair it. He can only make it look better -- he won't get it out completely. But from what you described, it doesn't sound like that is an issue.