Use WD40 or other suggested solution (

that DOES NOT include removing the brakes

) OR BETTER STILL STOP and let brakes cool down. Then drive real slow to the first brake repair shop. . . stop often so that you do not burn out your rotors or drums.
HOWEVER, if you can tough the hubs and rotors I do not think that you are not dragging your brakes.
SIMPLE TEST: Jack your traikler and see if the wheels turn easily. If the brakes are dragging they will not turn easily.
PLAY IT SAFE
Miss-Be-Haven Too