Actually, no, there is no guaranteed way to fully remove the chemicals. They are designed to remain in the core fiber of the garment for the life of the garment. You can help reduce the quantity somewhat with vinegar, and/or dawn dish detergent (or other soap product). And you can help mask the chemicals so they don't offgas as strongly with fabric softener, but for children's PJs, the fibers of the fabric are treated before the garment is ever made, even.
This means that the chemicals are imbedded very deeply in the fibers themselves. And while vinegar and other products out there can help break down and remove certain chemicals, there is no way to know for sure if you're getting all of the specific flame retardant chems out.
Some fabrics are naturally flame resistant -- meaning they melt rather than flame up (polyester, for instance). But flame retardant is not the same as flame resistant. And if PJs are marked flame retardant, then the fibers of the material have been treated with chemicals, and rinsing or washing alone, even in vinegar or harsh soaps will not remove the chems completely.

While polyester/non-natural fibers hold these chemicals better than natural fibers do, some manufacturers have recently begun using a new chemical on natural fibers (LL Bean, for example, now has their cotton PJs treated


.
So unless the tag specifically says it has NOT been treat and is intended to be snug-fitting, then assume (if it's designated sleepwear that accommodates 12 months and up) it's got chems and there is no true way to fully remove them.
I'd take them back, honestly.