Yep, wash it off, but you MUST use soap when you do. DON'T go get the window washing doohicky at the gas station and rub it on the car to clean the gas. Those things are abrasive, meant for glass, and have grit in them from thousands of other cars. Also, DON'T use a paper towel. It's too abrasive as well. Simply rinse it off, or go wash it like you normally do.
If you do this once or twice, it shouldn't hurt your paint. Today's paint jobs are a lot less vulnerable to gasoline damgage than paintjobs from years ago.
Gas will remove your wax, so the best thing is a good wash, followed by waxing that spot, or the whole car if it needs it. When you can get around to it, of course.
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