Answer by
LeheckaG (1826)
The "old"-way is to use the edge of a putty-knife or a flat-bladed-screwdriver to scrape it out a little-bit at a time.
Some modern-rotary-saws (Dremel, RotoZip, ...) have a grout-removal-attachment which mills it out a lot-faster, but you need to be careful to control the saw and not damage your-tile.