On the drivers side you simply reach in and twist the headlamp 1/4 turn, the bulb will pop out. Replace and reinsert. Be careful not to touch the new bulb with your fingers, it will leave your body oil which will create a hot spot and shorten the life of the bulb. If you should touch it, clean it with rubbing alcohol.
On the passenger side, you have to pull the lid off the air cleaner which should give you enough room to reach in and perform the same process as the driver side.
Both sides are a little tight, but it is doable.
From manual:
Headlamps
To replace one of these bulbs:
1. Open the hood.
2. If you are replacing the bulb on the passenger side
remove the Engine Air Cleaner cover.
3. Reach in and access the bulb sockets from inside
the engine compartment.
4. Turn the bulb socket counterclockwise to remove it
from the headlamp assembly and pull it straight out.
5. Unplug the electrical connector from the old bulb
by releasing the clips on the bulb socket.
6. Replace it with a new bulb socket.
7. Plug in the electrical connector to the new
bulb socket.
8. Reinstall the new bulb socket into the headlamp
assembly and turn it clockwise to secure.
9. Close the hood.
High-Beam Headlamp 9005
Low-Beam Headlamp H11