I don't do this very often, so ever time I do it's like reinventing the wheel on how to get them pressed out etc.... So, lets see some pics of how you guys change them. I always end up stacking sockets here and there to make it happen...
Get an Astro 7865 or OTC 7249 Ball-Joint/U-Joint service kit. The C-Frame works nicely for u-joints. I used to take u-joints to the bench vice to work on them. Now I just do them on the tractor, truck, or implement. I wish I had a heavy duty C-frame press a couple inches larger. It would make doing some of the large double cardan joints a bit easier. I still have to take them to the bench vice.
PS, the first time I did the u-joints I used a hammer and sockets to pound them out. I did it in my apartment building's lot. I didn't have a vice to use. I only used taps instead of blows, but there is still a chance of gouging.