We used to flip the cylinders upside down, use a small nail to puncture the bottom of the plastic mold, and then use an air gun with a rubber nipple to inflate the mold causing it to rise off of the concrete cylinder. The plastic mold could then be reused.
However, we discontinued this because we felt green cylinders were adversely affected by the pressure needed to blow off the cylinder. Plus on occasion the mold will explode during this operation.