I would try a Mr.Clean Magic Eraser, I have gotten stains off of stock pipes before(not a gen3), burnt boot on midpipe, lol.
I would try it on a cold exhaust, but you may need get it hot, and quickly wipe the eraser over it.
The eraser needs to be damp regardless.
It may or may not work specifically for whatever type of finish is on those mufflers, but the erasers really do seem magic, as I have gotten so many stains and marks off of so many different surfaces and finishes over the years, I would definately try them.
And if they don't work on the mufflers, try them everywhere else, as they really do work on alot of things that you wouldn't belive would come out.