You don't have to take the tires off, if you have a lift. Otherwise, it would be a lot easier to take the tires off. Plus you can check all the related components while the tire is off.
The brake bleed screws are on the top inside (away from the tire) of the calipers. It is probably covered with a rubber cap. Just remove the cap and it should expose the nipple like screw. You will need a 10 or 12 mm flared wrench (a regular will work too). Start with the fartest from the brake reservoir (right rear tire) to the closest (left front tire). I use the "brake bleeder", it works great...
Good luck!
