This is how I did it. Suprisingly easy. Did this all on the garage floor. First have an engine stand handy on the floor next to you. I used the one from Jims. Everything disconnected except those 4 bolts. Next use a ratcheting tye down strap and loop it under the trans and over the frame. tighten it down until the motor just starts to lift up from the front motor mount bracket. With the bike leaned over on the kickstand, place a floor jack under the motor case. Jack the motor up just a tiny bit and remove the 4 bolts. Pry the motor foward enough to clear the dowels from the two of those 4 bolts, keep ahold of the motor from the top so it doesn't fall over and then lean it back upright. Grab ahold of it from each head by the exhaust ports. Lift it out and set it down on engine stand. Bolt it to the stand, then go get your buddy to help lift it onto work bench. Motor weighs 165? I weigh 165 on a good day and it didn't seem that bad. Oh, and to put it back in, everything in reverse. This was on an 03 RG.
Good luck, be careful