I've done it, its not a big job. you have to be careful when cutting off and cleaning the silicone glue, that you dont cut the heater wires in their grooves.
I wouldnt use soap to put them back on, but silicone RTV, this way they will be in full contact with the heaters and not slip around or get slack.
I bought grip rubbers from wunderlich, and as a bonus changed to the contoured ones which i find more comfortable