NO GOO GONE!!! It will definitely take off the lettering, and probably won't dissolve MELTED foam anyway.
What you need to do is heat up the melted foam and begin wiping/working it off in stages. The best way to heat up the melted foam is with steam (which won't hurt the lettering or the tube sockets (but try to cover the tube sockets with something like plastic bottle caps of the same diameter, if they didn't get any melted foam on them).
I recommend one of those home hand-held steamers (in the $40 price range) using the spread nozzle first and if that doesn't do it, then the "spot" nozzle. The advantage of steam is that you can't heat anything to over 212 deg. F. which should be more than enough to release the melted foam..