How can I transfer ERC20 tokens from a multisig wallet?

According to this question, it is possible to send a token from a multisig by setting the to parameter as the token contract's address and setting the data parameter to make it execute a transfer function to the final address.

However, writing the data field by hand seems too cumbersome and error prone. Is there an easier way to accomplish this? For example, with MyEtherWallet or other online services.

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