Spark Plug Change on 3.0 V6

I was going to change the spark plugs on my '01 Escape...i got the first 3 done, on the front. And then I saw the back 3 are under the intake manifold. Now changing these means removing the intake manifold. I'm not too sure about this...has anyone else done it? I'm just not overly confident...and as this is my only vehicle and i am not going to pay the dealer $130 to $190 to change 3 spark plugs.