According to the manual you can bleed the brakes just like you normally would. There is an exception where you need the Dealer Service Tool. I'll post the manual page as soon as I find and scan it.
Okay, here is the scanned page from the manual. You will note in the first paragraph you only need to use the tool when the hydraulic brake system has been dismantled, or the ABS modulator renewed. I did buy the Dealer Service Tool a while back and have it if I ever need it, but according to this by my understanding you should not need it for normal bleeding. This is true for both front and rear brakes.