All you need is this tool.
http://www.freedomracing.com/specialty-tools/3v-timing-chain-locking-wedge-303-1175-alt.html
Once valve cover is off, rotate engine until camshaft keyway is facing up, insert tool listed above, remove cam gear bolt, pull cam gear off and then carefully unbolt cam journals in steps, working middle out. keep those in order, remove camshaft, install new cam, re-install cam journals and carefully in steps retorque to spec. Install phaser limiters if used and re-install cam gear and torque to spec. Re-install valve covers.
I replaced both cams in my 08' Bullitt in under 2 hrs with no power tools.