Basically you adjust them while the valve is closed.
Pick a cylinder you wanna work on the valves. Then rotate engine clockwise, when the exhaust valve is about half way open, adjust the Intake side. Just tighten down the rocker slowly until you just feel the no up and down movement in the Pushrod. This is Zero Lash, then go another 1/4-3/8 of a turn on the adjusting Nut, then crank down on the set screw.
Same for the exhaust, except you adjust it when the intake valve is fully open.