Yep, pretty easy, but quite fiddly.
You'll need a 10mm small socket wrench with a small extension piece and will have to remove the resonator in your intake.
Have a look at the rear of your heads and you should (maybe) be able to see a couple of green connectors.
Feel next to these and you will locate the 10mm bolt.
Undo bolt and do not drop it
Sensor will just pull out
To disconnect the sensor from the plug, push the end of the plug toward the sensor and then squeeze the tab and pull the plug off the sensor, you'll know what I mean when you see it
(man, this'd be so much easier if I had an engine on a stand to take pics with)
We have the same cam and crank angle sensors as VQ35de. Don't let anyone try to tell you differently.
Hope that helps (and made sense?!)...