Remove the bulk of it with a putty knife. To get deeper into the hub recess, you can notch the side edge of the knife so the knife forms a bit of an L shape so you can scrape a bit deeper.
Then just use rags on the remaining grease, with some solvent on it to finish it all off.
You can wear gloves if you want to keep the grease from the hands. In my last stint in Kandahar, we would hand out the latex surgical gloves by the box for the mechanics to use.
Things seemed to change from my days as a mechanic. We weren't afraid to get out hands dirty.
You will want to watch for sand getting trapped in the grease nipple holes. It won't help your bearings down the road if you pump grease through the tacelamite fittings and force the sand towards the bearings.
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