Well you like any other process you just have to send it a SIGTERM or SIGINT, so if you ran "airflow scheduler &", then you'd run "fg" to bring the process to the foreground and then CTRL-C out of it. While I've seen Celery and the web server might leave zombie threads around, I've never had any problems with killing the scheduler.
In despair, this should always work:
sudo pkill -9 -f "airflow scheduler"