Solution 1:

RewriteEngine On
RewriteBase /
RewriteCond %{HTTP_HOST} ^www\.(.*)$ [NC]
RewriteRule ^(.*)$ https://%1/$1 [R=301,L]

Same as Michael's except this one works :P

Solution 2:

But if we need to do this for separate http and https:

RewriteCond %{HTTPS} off
RewriteCond %{HTTP_HOST} ^www\.(.*)$ [NC]
RewriteRule ^(.*)$ http://%1/$1 [R=301,L]

RewriteCond %{HTTPS} on
RewriteCond %{HTTP_HOST} ^www\.(.*)$ [NC]
RewriteRule ^(.*)$ https://%1/$1 [R=301,L]