With most soap bases, you'll be able to just pull gently on the scrubbie and the soap will come out easily. Some soap bases will be a bit harder to get out. If they are, just put the molds in the refrigerator for an hour or so. That usually makes it easier.
Another trick, should you need it - with these particular PVC pipe molds, put a regular size can of soup on the counter and push the mold down onto the can. The can will exactly fit into the inside of the pipe mold, pushing the soap up out of the mold.
Trim or round the edges, if needed, and you're ready to go. Since it's melt and pour soap, you can use them right away!