Hi, Kathryn. Did you use the clear, double sided tape or the thick white tape with the foam core? For either, the process is about the same with variations in technique. This assumes that you have some kind of a varnish or poly floor finish.
You will need mineral spirits/paint thinner and some rags and a hobby (X-Acto)knife with a fresh #11 blade. If you have the white tape, try to "worry" a corner of the tape and even if you split the thickness of the tape, that is an improvement, but don't scratch the floor. Now put some on a rag and rub it over the tape. You want to put enough on that the thinner will get under the tape and release the glue but not leave it on for so long that it will start removing the finish. If it seems that the finish is starting to soften, wipe the thinner up and start working on another spot and come back to the first spot later. This could be a pretty quick job or an all-dayer, just depends on the tape glue and how hard it is stuck. Keep "worrying" the tape with the rag and knife until you get it all up. Don't leave the rag sitting anyplace on the floor and take it outside to totally dry out for a couple of days.