You need no tools:
Car jacked up and bolts removed. Lay on your back with base of feet facing the wheel. Alternatively kick left and right side of wheel with base of feet, on the rubber part. You can kick pretty hard without much problem, just measure what force is ok by gradually increasing. Do this until it comes of. It eventually will, depending upon how stuck the wheel is. It can takes minutes, just don't give up.
Remember, alternate left right to create a 'rocking motion' around the wheel hub.
It works like a charm, even salvaged some fair maidens this way and taught them how to do it. They'll remember me forever
(at least when they change their wheels)