It gets easier after the first couple times on and off....
My TJ doors lift off real easy now, I did soak the pins with penetrating Lube every day for at least 2 weeks straight before I got them off for the first time.
My Wife's JK... I got fed up and used a High-lift Jack with a piece of 2x4 to protect the metal... much easier. If you have a Jack use it to pop the doors from the hinges, if you don't have one... get one