Sure, Haynes is great for routine maintenance. You might even get away without having to remove the caliper, but it's probably best to remove it and clean everthing up, inspect the rubber boots on the caliper pistons, and apply brake anti-squeal paste to the backs and slider areas. An MB mechanic friend told me he always pulled the edge of the boot out a bit and squirted in a shot of silicone to forestall rust from forming.
You can re-use the wear indicators (if you don't have access to a dealer or don't want to wait) if they're not worn too far by dabbing the ends with silicone RV sealant to re-insulate them before inserting again.
Be careful pushing the pistons back to make room for the pads. Go slowly so as not to disturb the master cylinder cups.
Always use lock-tight on the old caliper mounting bolts.

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1986 560SL
2002 Toyota Camry
1993 Lexus