on the rear, remove the plastic skid plate, remove the metric allen head drain plug that is on the under side and let it drain. that's the easy part. when refilling the diff be sure to use the EXACT amount of fluid specified! the service manual says to use .28L. it also says to NOT fill the diff to the "check hole". this doesn't seem to make sense, but i have read about guys overfilling and having gear oil come out of the breather, or worse, having the pressure build in the diff to the point where the axle is forced out!
now, why would they give you a hole to check fluid level, and normally, when checking fluid you should have fluid seep out of this hole which would indicate proper level, but then turn around tell you to NOT fill it to that level when replacing the fluid? who knows, ancient japanese secret maybe?
any way the manual says to add exactly .28L regardless of wether it comes out the check hole or not. will you have problems if you fill to the correct level instead of the correct volume? i don't know but i have read of enough people having problems on this and other Grizzly sites, that I'm not taking that chance.
doing the front is essentially the same, even the fluid quantity is the same.
the recomended fluid is SAE 80 API GL4 Hypoid gear oil. i just bought some PJ1 from my dealer to do mine for about $8/quart. 1 quart should be able to fill both diff's several times.