The factory ones on my olhausen just peeled off. I just cleaned the glue off by rubbing it. Cleaned the rubber with alcohol afterwards to prevent any skin oils from messing up adhesion. I cut the new facing rubbers a bit oversized, trimmed them carefully, leaving maybe 1/8" oversized. I used barge cement to attach the facings. I then flushed them up with a razor blade, then finished them with I think 120 grit sandpaper wrapped around a metal file. The sandpaper wrapped around the metal file works great, I think it was an older post by RKC that mentioned that.
I don't know if you would be able to re-use the cloth. I replaced the rail cloth. A lot of places will sell rail cloth only. My bed cloth was only like 6 months to a year old so I just kept the same cloth on the bed. I think rail cloth was around $60, but I may be a bit off on that. It's doable, but the most annoying part of the whole job is putting rail cloth on. IMO it's tedious but not hard to do, more annoying than anything.