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This is specific to an 06 ZX6R but i'm sure most steps are similar to any other bike.
I posted it up on a ninja forum but thought i might chuck it up here just for reference.
1. take side panels and seat off (no pics for this. if you don't know how to do this...i'd recomment NOT doing this job yourself and getting a mechanic to change your plugs....)
2. remove tank. There are four bolts you need to unscrew to get the tank off,
1 at the headstem of the frame, 1 under the seat and two on the sides in the middle of the frame. No pics for this....pretty self explanatory.
3. to completely remove the tank you need to disconnect 3 hoses/clamps.
unclip this clamp at the bottom of your tank. before you do so, you might want to throw a rag under it to catch the bit of fuel that might leak out. yes they are old undies. shut up.
unclip this electramickle clip under your seat.
there is also a small hose under the tank on the left hand side (as you sit on the bike) that you need to unplug.
4. now you have access to the air filter housing. (which you need to remove) to do this there are 5 bolts you need to unscrew.
first is at the top near the headstem.
the rest are under the airbox and are the housing clamps (there are 4 of them)
5. next you have to disconnect the injector clips at the top of the airbox. There are five clips in total. (4 black for each injector and 1 green at the end)
6. next there are four hoses you have to disconnect.
first is on the left hand side (as you sit on the bike)
next is the big hose at the bottom of the airbox in the center
next is the fuel clip under the big house you just disconnected
and lastly is the hose on the right hand side under the airbox
7. the airbox can be completely removed now. Take the chance now to give it a wipe down because it'll probably be dusty and full of bugs.
8. you should now be able to see the 4 coils. unplug each of the electrical clips to them
9. now prepare yourself for some serious cursing and hard work. you have to pull each of the coils straight up and out. giving them a bit of a wiggle or an unscrewing action may help abit...but you need constant force pulling upwards.
good luck getting the last one on the left off....the frame gets in the way and causes many profanities to be thrown around.
10. now you can relax because thats the hardest part. All thats left is to get your spark plug socket tool and unscrew the old plug out and screw the new plug in.
once again, the very left one will give you troubles because there is very little clearance to get your spark plug socket and handle in there.
I made a visit to the local auto store and found this beaty. A flexi 1/2" drive extension. Made the last plug a breeze to get in and out.
And that's it. You're done. Assemble everything back, and double check you've reconnected every hose, screwed back every screw and clipped every clip back.
i accept no responsibility for anything you do to your bike. This is just a guide. If you are not sure on how to do anything after reading this and consulting your service manual and read through the wealth of information on this forum, i'd suggest not attempting it yourself.
Having said that, go forth and changeth thy plugs!
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Well done. 
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