Bloomy rinds
The white coat on Brie and Camembert is a bloomy rind. It is meant to be eaten. It tastes mild and a little like mushrooms when the cheese is ripe. Trim it only if you dislike that taste.
Stronger rinds
A washed rind, such as on Taleggio or Époisses, is edible and often stronger than the paste. A natural rind on a firm wheel can be dry or bitter. Taste a small piece. Keep it when it is pleasant, and cut it off when it is tough.
What is not food
Wax, cloth, paper, and a plastic coat are packaging. Do not eat them. The outside of a blue cheese is edible, but it often tastes stronger than the paste, so many people trim it.