As @TXTurner suggests, a drawknife is great for bark removal. The dirt, grit, and grime in the bark will dull the blade faster, so it might be a good idea to have a drawknife dedicated for the task.
National Trails Training Partnership also suggests the following tools:
(source: Lee Valley)
I also suggest using a hatchet or small axe for bark removal. I've done this plenty of times with good results. Using a broad axe or a side axe will help speed things up since they're made for this sort of thing. Side axes only have a bevel on one side thus they are much less likely (or entirely unlikely, if properly sharpened) to bounce off the log and into your leg.
(source: Gransfors Bruk)