I do it by feel with a wrench and once I get the nut loose, I then take my fingers and spin it off by hand.
I also don't want to upset the rest of the user here and YES I agree that removing everything and lubricating it, replacing the window runs, front and rear, taking the mechanism out and lubricating it, also taking out the door latches, lubricating them, etc, etc is a good idea, but his question was about removing the motor. YES it can be removed without taking out the entire window mechanism.
ALSO, you may want to rethink white lithium grease. If you notice, the factory used white lithium and it has likely hardened solid and is not easy to remove. I use Mobil 1 synthetic grease, it comes in a 1 pound tub and is red in color. I quit using white lithium.