It is done exactly like any other vehicle. Newer ones, like the T4R, have individual coils over each spark plug. Remove the coil bolt and pull up on the coil head and the spark plug booty will follow. Since the head is aluminum then I would suggest using a torque wrench if you are not used to wrenching. 13 ft-lbs is all they take! No need to gap them since the iridium plugs come pre-gapped (like most all plugs today).
I have 108,000 on mine and want to do it before winter.