How to remove alcohol taste from vanilla extract?
If you have not tried mixing it into drinks yet then I'd encourage you give it a shot. Although the alcohol smell is strong in the bottle the vanilla flavor is much more concentrated, once you dilute it in something else the alcohol should be unnoticeable. 

There's no way to get the alcohol out of the extract without destroying the vanilla itself, heating is just going to evaporate the vanilla with the alcohol. If you still have a problem with the alcohol your alternatives are to use artificial vanilla flavor (a poor substitute IMO) or real vanilla from vanilla pods. You can open a vanilla pod and scrape off a bit of the inside into a drink, then mix. One option would be to put some sugar and a whole vanilla pod into a food processor and whiz it all together, you could then add the vanilla sugar. 

You could try vanilla paste as well if it's available in your area. It's more expensive than extract and doesn't mix as quickly, but it's less alcohol-y and has great flavor.