Won't take it to a shop, Huh?
Put the shaft in a big bench vise, using the round stock jaws that are below the flat jaws. Clamp it as close as you can to the end that you are going to work on. Use a drift punch or piece of round stock that is as close to the size of the cup that you can find. Grab a 4 to 8 pound sledge hammer. Begin the beating. Knock it out until the center cross is against the yoke. Turn it over and use locking pliers or adjustable pliers to remove that cup. Get out the cold chisel and do whatever it takes to remove that cup. Now beat that u-joint back the other way, striking on the end of the cross. Repeat.
Old School Bro'! Done it many times.
Now for a trick my Dad taught me, after you use that vise to press in the new u-joints, strike the cross with a drift punch to seat the cups out against the clips or stops.
2006 4.0 5 spd auto 4x4 Super Cab
BF Goodrich Commercial Traction T/A's
Royal Purple Throughout
Alpine Head Unit with some Infinity Noisy Stuff