Rub at the rubber marks vigorously with your fingers. The friction often peels the rubber marks off the furniture without additional work required, and this won't damage the furniture at all.
Spray any stubborn rubber marks with a solution of warm water and white vinegar from a spray bottle. The vinegar helps break up the rubber marks, and since you're not using much moisture, the furniture shouldn't be discolored or damaged from it.
Wipe at the marks with a soft sponge once the vinegar has had a chance to set into the rubber. The friction from the sponge combined with the acidity of the vinegar should remove any remaining scuffs.
Apply a rubber remover to the furniture if the vinegar is ineffective. Follow all instructions on the container to prevent furniture damage.