carbide burrs with a die grinder or flap wheel/grinding disc with a angle grinder for fast removal and flap wheels/fibre discs to smoothen the welds.
carbide burr:
to smoothen the welds after using the carbide burr you can use mounted points or the tool pictured below which leaves a really smooth finish:
for fast removal with a angle grinder:
different fibre discs (2", 3", 4.5") for a smoother finish and to level the welds, grinding wheels take off to much material, flap wheels with a finer grit would be an option too
these (on top) are great for **** welds:
these too: (and for concave + convex surfaces)
and these if you want to see what you are doing...