If you have the new axle inners with the white cups you plunge the axle inward towards the rear diff then yank in a snapping motion. Make sure the area behind you is clear for when you loose balance and fall over. Hold the axle near the inner cv boot with one hand and towards the outer portion with the other and plunge, yank, and pull. Should come out fairly easy. The second one you can use something like a socket on an extension and tap it through from the open side.
2009 Prowler XTZ 1000 with a few modifications. Needs paint & powder coating.