How can I get tree sap off of my dog's paw pad?

I took my beagle to my soccer game yesterday and tied him up under a tree, not knowing there was some sap there and het got it caked into the fur near and in between his paw pads (and now he's licking it. eww). How can I get this out? He had some on his chest as well but I snipped that little bit out with shears. Is there anything that won't hurt his paws that can remove it?