Heat gun, razor blade and 3M adhesive remover. You may need to go to a body shop supply store to get the 3M adhesive remover. Make sure you get every bit of old adhesive and residue off of the door. Any little bogger of old adhesive will telegraph there new decal and it will look terrible.
Post some before and after pics for us. New decals are one of my favorite projects! Always makes things look great if you take a little extra time to prep properly.