The differentials are easy to do. All you need is a 1/2" socket wrench with a short extension, an oil pan, and a pump or syringe to fill it. A breaker bar or torque wrench is recommended though, because often the plug is siezed/frozen and you need the extra leverage. Some recommend wrapping the tip of your extension with tape for a tighter fit in the plug, because there have been cases where they've stripped the plug and had to go to extreme means to get that screw out. (I believe it involved welding an extension to the plug.) Tread carefully.
Also, it's not a bad idea to try and remove the top plug first -- no sense in draining the fluid, then finding out you can't get the fill plug off.
I use this
grease gun style syringe to transfer the fluid in; others have their own solutions that work equally well. All I can say is the simpler, the better. I tried a complex pump and it failed horribly; a simple syringe worked simply and effectively for a fraction of the cost.
Oh, and it'd be prudent to buy an extra quart or two of gear oil, because your first time doing this you'll probably spill a decent amount on the ground.
Edit:
Here's the awesome post I was referencing above.