Easy job, shouldn't take you more than about 30-45 minutes. On the left side, just remove the air intake elbow and you'll have easy access. Just becareful removing the electrical plugs from the coils. Remove the boly holding the coil down, they pull right up and then you can replace the plugs. Not sure it matters but I do mine one at a time as to ensure the coil goes back on the same cylinder it was removed from.
On the drivers side, there is a bracket bolted onto the intake, remove that bolt so you can move the bracket out fo your way while you work. Fairly straight forward also, a swivel helps with the last plug.
When installing the new plugs, MAKE SURE THE THREAD PROPERLY. If the feel off, back it out and start again until it feels like it's right. You should be able to get them threaded completely by hand and then just torque them down. New plugs usually come pre-gapped but check them anyway. Takes 2 seconds and it's just smart to do.
I think most guys do run Denso plugs, just make sure you by the double ground plugs. These things use a waste spark system, the double ground plugs will last a lot longer. Also, change your wires while you're at it. New wire kit will only have 3 wires. The wires run from the coils on the passenger side to the plugs on the drivers side. (You'll see what I mean when you start working on it.)