It is done so quite easily using a piece of cloth or paper tissue and a bit of methylated spirit i.e. rub couple times over the printed area of the plastic bag with slightly soaked in methylated spirit piece of paper tissue and you should see the print removed in no time!
It should be mentioned that this method works well for clear plastic bags (like on the picture above) with ink type printed text or picture that needs to be removed (i.e. unwanted brand name, logo etc.).
You can buy methylated spirit in many local hardware/convenience stores, chain DIY supermarkets or on Amazon.
Methylated spirit is chemical solution with strong unpleasant smell, it is advisable to use it outside or in well ventilated areas.