If you mean grips and not tape, it is probably easier to just replace them. Lots of choices depending on the type of bars you have. I like Ergon lock ons for my MTB - but they're not cheap. For my wife's roadster, I purchased some nice soft foam grips which are very comfortable. Different techniques suggested for removing old grips - but if you don't like them it's often easiest just to cut them off with a sharp knife.