I've heard three suggestions. In order of severity:
1) For a smaller patch, cover them repeatedly with a thick paste made of kalkwasser powder and RO/DI water.
2) For a larger patch, take the rock out of the water and scrape them off, then cover the area where they were with kalkwasser paste.
3) If they've taken over a major piece of live rock, or large portions of the tank, put the affected live rock in RO/DI water, or RO/DI water and bleach. Leave the rock there for several days, until everything dies. Scrape off as much detritus as you can. Leave the rock out to dry, then shake off the remaining detritus. Rinse well with RO/DI water, then put the rock back in the tank.
Option 3) is the Nuclear Option. It turns a piece of "live rock" into "dead rock". When the rock goes back into the tank, it has to be colonized all over again by bacteria and invertebrates from the other rocks.