It's real easy and you can do miracles with plastic polishing. Mine looked like they had been steel wooled and now they look new. Try some automotive paint polish on a terry cloth rag and then finish up with McGuire's plastic polish on a separate rag. If that's not sufficient, start with a automotive paint buffing compound and if that's not enough, start with 2000 or 2500 grit wet paper. Try to work in different directions. If that's not enough you should buy new lenses Do it all by hand (actually by finger). The hard felt bobs on a dremel tool will not work and could melt the plastic.
I had to start with buffing compound on mine and then went back and got a few scratches out with wet paper.