Weight = mass * gravitational field strength
W = mg
The force to lift off is the force to overcome the force of weight.
As the mass doesn't change, the only variable affecting W is g, the gravitational field strength.
Which planet has the highest gravitational field strength, and that is your answer. (you probably have this in a data book or something, for reference, earth's gravitational field strength is 9.81 ms^-2 , sometimes simplified to 9.8 or 10)