There are differnt types so it depends. Some have adhesive backing and some don't. The adhesive backing IME usually rip tear during removal. I have removed the adhesive type in the past for a quick repair but must be VERY careful while unwrapping.

The type without adhesive is easy to remove but depending on how long its been on the bike, it can form to the bars and be hard to replace. But if the tape isn't that old, it's not a big problem.