I had the manifold off, you may be able to unbolt the manifold from the head and just swing it out of the way a little with the exhaust pipe still hooked up to support it or use a ratchet strap to help a little. It is not that heavy. You can also lift the front of the head up and place a block wrapped in an old shirt or something under it to help get it coming at an angle. I have lifted them in and out by hand but a hoist would be a lot more ideal. Maybe remove the hood to get better access.
Matt