Clean it as good as possible, scrape off anything thats loose or chipping, spray over it.
Put your car up on jack stands, get a full face shield ( like a riot mask ) and get a bucket of water, and some degreaser, and one of those scrub brushes, something with medium sized bristles so you can get in the bumps
get on your back and start scrubbing, and you are going to get wet!

(seems to me the face protection would be pretty important, wear junk clothes xD )
Here is a build thread where somebody cleaned their whole undercarriage... BUT its a civic xD
http://www.honda-tech.com/showpost.php? ... tcount=386
^ exact post
v page with the post 3/4th down the page
http://www.honda-tech.com/showthread.ph ... 27&page=16
I think he said he dislike'd 3m's rubberized coating in a spray can, dont remember, was a long time ago i read that