Help... after painting, pulling painters tape off, some paint pulled off with it, how to fix?

You will have to touch up by hand.

Did the tape pull off what was under it or what you just painted next to it? If the tape pulled off the paint under it, that paint might not have cured. You need to wait a bit before taping new paint, I'd say at least a week. Others might know a better estimate.

In terms of fresh paint next to the tape, I've had best success when removing the tape immediately after painting - I mean right away. That keeps the fresh paint from seeping under any part of the tape not completely sealed to the wall and eliminates the risk of pulling up the freshly dried paint film when removing the tape.