Youll get 1,000,000 different answers.
Overall the answer is acid. You need to dissolve iron oxide, so you need acid.
Hydrochloric acid (muriatic acid, CLR, "The Works") ,phosphoric acid (Naval Jelly) , acetic acid (Vinegar)
Any of the above will work.
Metal Rescue and EvapoRust are very similar non acid chelation agents based on EDTA (ethylenediaminetetraacetate)
And work very well.
And then theres Electrolysis....also a good method.
I like muriatic myself. Its very fast and simple.