Purchase a mild detergent, perhaps something ecologically friendly. An example is Simple Green detergent, which needs to be water-diluted 30 to 1 for scale application.
Dip a toothbrush into the detergent solution and scrub the scale insects manually. They should become slippery and drop off the branch. Try more solution or more concentrated detergent if they don't.
Deter their return by occasionally (monthly) applying a horticultural soap or oil. This can be sprayed on to save time. It will still be effective. Iit's the way scales are treated in commercial groves.
Look for new scales and apply detergent manually every 6 to 12 months, to account for the flight/migration stage of their life cycle.