It's hard to remove the residue from your pans without scratching and damaging the nonstick surface of your pan. I place mine in my dishwasher which usually takes away most of the residue. I would try a little bit of baking soda and rub it in with a sponge.
Or, if it bothers you to have the residue on your pans, bake with parchment paper, waxed paper or even silpat nonstick liners (Martha Stewart offers them online) placed on top of your pans when baking.
When spraying my pans, I use plain canola oil and I use a refillable oil sprayer. I hardly ever get an residue on my pans. It's just a guess, but I think that Pam may have artificial coloring added, which causes some of the residue and darker coloration on your pans. You may want to check the label.
I hope this helps.
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