As others have said, you can use WD-40 to help remove dried caulking. But WD-40 is not a "magic bullet". You still may have to use elbow grease to help remove the caulking. Although WD-40 usually won't harm solid surfaces, be careful that vigorous rubbing doesn't either.
2019 Jay Flight 264BHW, Rocky Mountain Ed.
2020 Ford F150 XLT SuperCrew, 3.5L EcoBoost w/Turbo