The window cranks had a little clip that needs to be removed. Push in on the door panel around the crank and you should see the clip that attaches to the crank. Get in there with a screwdriver and push it out. When the clip is off then just pull the crank straight off.
A easy way to get the crank back on…Put the clip on the window crank FIRST…Then just push the crank on…The clip just snaps into place.