This is a step by step process of removing the freeze plug in the engine block of the 4.3 V6 on the passenger side.
[NOTE: Do not use the rubber style freeze plugs. In colder climates the rubber can shrink enough to let coolant leak out
Lift the front right side of the vehicle and secure with jack stands. Then remove the tire and lift up the rubber mud guard to see the starter and freeze plug.
Remove the two leads that are connected to the solenoid on the back of the starter, as it will be removed.
Remove the starter bolts and wiggle the starter around until it can be pulled free (took me a few minutes to pull it off).
After allowing the engine to cool down, remove the radiator cap and overflow cap. Then, remove the drain plug in the block to drain the coolant (It will run out quickly so be sure to have a large bucket to catch the coolant.)
Using a punch or long screwdriver, place it near the edge of the plug and tap. The plug should twist in place, allowing you to then use a pair on channel locks or vise grips to remove the plug completely.
Success! Now, tap in the new plug, put the starter back in place, fill up the coolant and enjoy not having a leak anymore