Try some dish detergent with some water and use a bristle-broom. If that doesn't do the trick, there are store-bought solutions for this problem. Nothing is 100% as effective as you'd like so don't get disappointed if there's a 'ring' around the driveway. :)
Anyways, you do want to clean it up as best you can, then you can re-seal it with driveway sealer. Remember, there will be a 'patch-like' spot if you reseal the damaged area. To me, that's OK. You don't sleep on your driveway, you don't eat on it, and you don't entertain your family or guests on it. You park your car(s) on it and it drips and drops all kinds of 'junk' on it. Se la vi.