Low heat will help, and I've found at the same time also using a single edge razor blade gently will take it off a little at a time. After being in sunlight for many years, the tape is somewhat brittle and doen't want to come off in one long strip. You'll be left with tape residue which can be cleaned off using 3M General Purpose Adhesive Cleaner (red and white can). It's not available in all states, probably because it works too well.
Since the pinstripe tape has been on your boat for 16 years, after removal there will probably be ridges where the gelcoat has been worn down where there was no tape. It's easiet to replace the old tape with the original size pinstripe tape from Beneteau Parts; last I checked, they still carried both the blue and green pinstripes. The ridges will act as a guide as to where the replacement tape should go; you'll cover them up. If you want to replace the pinstripes with something different, you have a time consuming job ahead of you wet sanding (with a sanding block) to get rid of the ridges.