I personally use
Audacity for vocal removal, along with a
Center Pan Removal Plug-in*.
The plugin does a fairly good job, even with the default settings. Though you may need to tweak the values specifically for each song. If the plugin doesn't do a good enough job of removing the vocals, you could always try negatively amplifying the audio (by around -2.5 to -5dB.)
*To install the plug-in, place "centerpanremover.ny" in the Plug-Ins folder inside the Audacity installation folder. On Windows computers, this is usually under C:\Program_Files\Audacity. After restarting Audacity, select the track or audio you wish to remove the center-panned elements from and click Effect > Center Pan Remover... (it will be underneath the divider in the Effect Menu).
Note that although two channels of output are produced, the result is mono because both channels will be panned to centre.