I removed the turf with a paint scraper/chizzle to get the big chunks off, then used a wire wheel that goes into a standard drill.
To remove foam, I use a pressure washer. Cuts like butter and gets off all the residue. Naturally you add the extra step of getting the hull dry, but it's way less labor intensive than cutting it out. That might not work for you since you don't want to blast water up into the gunwhales that you are not defoaming.