Rub the scuff mark with a kneaded rubber eraser. Use as little pressure as possible to avoid removing the paint. Knead the eraser as it becomes dirty. Keep rubbing the mark until it disappears. If the eraser does not work, try rubbing alcohol.
Apply a small amount of rubbing alcohol to a soft cloth. Gently rub the mark and check the cloth. If the cloth turns dark, then the rubbing alcohol is working. Continue cleaning the scuff mark with the cloth until the spot is clean.
Use a water-displacement spray, such as WD-40, to remove stubborn scuff marks from white trim. Moisten the area with the spray and wipe gently with a clean cloth. Avoid using excessive pressure so the paint is not removed from the trim.
Apply painter's tape around the edges of the vacuum bumper to avoid new scuff marks.