This is one area where i have to disagree with steve, attempting to wipe off epoxy, especially from porous woods, just makes a mess. I dont particularly like chipping off dried epoxy either. Luckily, epoxy does have a small, magical window where it isnt liquid but it isnt quite set, kinda like playdough, and when it hits that point you can take a sharp knife and trim off the squeezeout without issue. A tiny bit might get left behind, but that much can be taken care of with sanding.
If thats not an option, chip off what you can with a chisel, then sand it. Epoxy sands pretty easily.