The closed valves I just filled with carb cleaner and let them sit over night. Next day I just soaked it up with shop rags and used medical swabs (look like Q-tips/ear swabs but with long wooden handles) to get out the chunks of carbon. If it still looked bad after one soak, I did another. 2 soaks was the most I needed for the closed valves.
For the open valves I just soaked a shop rag in carb cleaner and stuffed it into the valve, let that sit over night, removed the next day and used the medical swabs along with a shop vacuum attached to some tiny vacuum tubing so I could have it in while I chipped away at the carbon deposits with the swabs. This was a PITA to do and very time consuming but it did prevent the chunks of carbon from falling into the cylinder. I think I used around 300 swabs by the time I was done. Next time I do the cleaning I will definitely be rotating the engine and only cleaning the open valves.
I would point out though that my engine had a carbon cleaning done by the previous owner about 20k miles before I did it, so the intakes were not too bad at all. If it’s been a long time since yours has been done (or never) you might have to use a more aggressive method to get them clean. I know there is the zip-ties in a drill method (I actually had this ready, but didn’t need to use it) or some other kind of brushes (was looking at paint gun or gun cleaning kits), but mine didn’t need it.
Also I did not clean the inside of the intake manifold itself. There is a lot of plastic and rubber parts inside and the carb cleaner would probably damage or destroy it. I just cleaned off the ends of the manifold (where the tumbler flaps are) by hand with the medical swabs, shop rags and some seafoam.
Lastly I did read somewhere that the stock manifold bolts should be replaced after 1 use. I don’t know if this is true or not but since I installed the spacer kit I did not reuse the stock bolts. Maybe somebody else can confirm/deny this.