Wet aluminum foil (the cheaper and thinner the better because it has softer edges) is the ticket for removing anything burnt onto your chrome pipes. If your passenger wears wind pants on your harley and they burn to the pipe its nearly impossible to get off. Alum foil will do it.

Donot use foil on anything softer, i.e. powder coating, gold foiling, plastics paints etc. It works wonders on stainless and chrome, so i. Sure it works on polished steel too.
Use common sense and test in a less conspicuous area.