YES, we pull the rotor, and than remove the ABS sensor... . we don't pump the grease into the bolt hole but the hole the ABS is removed from... the counter for the ABS is on the inside of the hub...
We got a tapered tool with a rubber tip for our grease gun, and pumped in 4-6 pumps of a very high grade grease... . we use a full synthetic bearing grease with a drip point of close to 500*F. I hate the grease, it sticks to everything and is almost impossible to get off your hands... the tool is something like 1/8 - 3/16" in diameter about 3 inches long and is designed to press into a hole and seal with the rubber end...
We seem to do brakes every 120-140K miles, so that's the time we do it...
We've actually taken one apart after greasing it... . it will press apart with an arbor press, and with the correct amount of grease it seems to get into both bearings...