Changing Spark Plugs (TUNE-UP)

Has anyone ever changed the spark plugs for an 06 Dodge Charger SXT 3.5 liter. If so, can you explain what I would need to perform this job and what I would have to remove to get to the spark plugs.

Thanks

1) Only change plugs, when the heads are cool.

The plugs should still be good on a 2006, they should be good for 100k miles.