Start with Goof Off, but do it someplace as a test where it won't show if it damages the formica. I don't think it would, but it pay$ to be safe. The trick with scraping any material is to scrape with a material that is softer than the material you are scraping. Uh, yeah. What I mean is, that Formica is fairly soft compared to a metal putty knife. However, a plastic putty knife, or maybe you have something in the kitchen? Even a paint stirring stick would work. You want to pick something softer than the formica.
Of course, you could use my favorite tool, the 5-1 and just be careful.
If the goof off doesn't work, I don't know what would.