Several ways, but it will require you to follow up with clear coat, so that it does NOT turn yellow:
Option 1: Use Random orbiter with polish (
here)
Option 2: Use Random orbiter with plastic polish (
here)
Option 3: Headlight Restoration Kit (
here)
Note: I only provided examples in the "here" hyperlinks above..you can choose to use less expensive products. Technique is more important than the brand name of the product....but Option 3 already includes the "clear-coat" wipes, which I found to really work...