While I haven't had to install a bulb in the 2011RT yet if like the 05-09 --On the left bulb I reach down in from the L/H side of the bike with my right hand to unscrew the cover, then unplug the bulb plug, then open the retaining bail, & install a new bulb.
On the R/H bulb I do it all from sitting in front of the bike then reaching up above the front fender with my right hand. That is basically working blind but you can see the bulb seated in the lens assemble by looking through the front of the lens. I don't totally remove the big plastic cover. I just slide it over sideways enough to get to the bulb.
The important thing here is to get (& KEEP) the bulb locating tab oriented correctly before, & during the install as you can't tell bulb orientation once the bulb is up in there out of sight.
The difficult part is getting the bulb retaining bail back over the bulb correctly & keeping your greasy fingers off the bulb glass (YOU MUST NOT TOUCH THE GLASS).
The good news is once you have done a few it is really a piece of cake (under 5 minutes a side).