First try a cleaner such as 409. Test the cleaner first in an inconspicuous spot to make certain that it does not affect the stain.
If that fails, use superfine 0000 steel wool and paste wax. I have done this very successfully with paint splatter on stained woodwork. If there is a lot of paint on the woodwork, you may have to use some type of stripper, which will damage the stain.