The front 3 are easy. Just pull off the engine cover. Don't even need tools, it just un-snaps.
The rear 3 require the intake manifold to come off since the engine is transversely mounted.
I don't know of a way to detemine if it's the coil or the plug other than replacing the plug and seeing if the problem goes away. If it does, then replace all the other plugs at that point.
One trick I know of to troubleshoot a coil is to run the engine (with the check engine light cleared), and use a very fine mister, and mist some water over each coil, see if you get any electrical arcing or rough running or check engine light comes on.
I know that on the old VW coilpacks, the plastic was manufactured too thinly, so it would develp very fine cracks that could not be seen. But in very cold damp weather, you could see arcing from the coil pack to the end of spark plug where it plugged into the coil pack.
So the misting method would basically be the same thing. But the coil might just be failing internally.
But again, other than trying to mist them, or replace the plugs, i dunnno how you would differentiate between the plug and the coil.
Good luck.
part prices would be best either on ebay, or possibly Jim Ellis Mazda online. Or maybe Rock Auto