Yes it is quite straight forward, first unplug the wires for the heated screen. Then start at a corner and fold back the rubber seal from the inside you want the seal to come out with the glass. While doing this gently push the window outwards, you can use a lever of some sort to help but be very careful! The window should start to come away from the frame, slowly work around the window pushing gently until its out and try not to drop it.
To refit it is slightly different, lay a thin cord/rope within the window seal but miss out one corner. The corner with no cord will allow you to slot the window frame into the seal. So lay the glass complete with seal on top of the tailgate and insert the window frame into the rubber seal where there is no rope. Then pull the rope from the inside while keeping the glass in the right place. By pulling down on the rope it will fold the rubber seal over the lip of the frame continue around the entire window and it should be back in.
If you take your time and are gentle it should not break!