I would take the valve covers off, relieve the pressure off of the valves so they close, grind the carbon off with a die grinder, and then blow it out of the heads with compressed air.
Of course I would fill the lifter valley with rags to catch the crap.
You're talking about an 11 year old vehicle. I'd be inclined not to touch them but rather put it back together and get a three pack injection cleaner and see if you can't blow the carbon out that way.