I have done the same thing, only mine only touched the exhaust and melted the fiber and left a stain that was hard to remove. Some will say use oven cleaner, but what worked the best for me was to let the exhaust cool completely and then I used the HD cleaner to wet the area (pledge will probably work as well) and then I scraped it with the edge of either a nickel or a penny and the spot came off without scratching the chrome.
The nickel or penny is softer material than the chrome and will not scratch the chrome. It will come off rather slowly but kept moisten the area basically for lubrication and keep at it, it will come off.
Good luck!