To be honest, the service manual is your best way of doing it. You don't have to remove everything it says, just get access to it, but if I were you, I'd have someone that's done valve adjustments before there with you to help.
I'm not familiar with your mechanical background, but make sure you can use a feeler gauge correctly, it's vital in this case.
Have owned - 2001 Suzuki Volusia
Current bike - 2005 Kawasaki Z750S
MMI Graduation date January 9th, 2009. Factory Certifications in Suzuki and Yamaha