Yes, for goodness sake, pay no attention to the factory service manual which wants you to pull the exhaust y-pipe and converters and go in from below. (Vulcan 3.0) I wasted a day starting this before realizing that you could indeed get to it from above. That being said, it is NOT easy to get to from above either, and you will need massage therapy afterwards. You can see what you are doing from the driver's side fender area with a drop light stuffed down by the sensor area, but just barely. It helps to have hands like a monkey.
On my 1993 3.0, I removed that plastic shield where the connectors for the EECIV and ABS
diagnostic connectors clip to, otherwise there was no room. I also removed the bracket which holds the speedometer cable onto the cylinder head.
Make sure the little gold colored wire clip which holds the speedometer cable in place on the VSS
on the early 1990's models has its rounded end facing the front of the car, otherwise the head shield won't clip back on.
The 10mm bolt which holds it in is a nuisance to get started and you have to be careful not to cross thread it. It should go back in with a 10mm nut driver in line with and touching the speedometer cable, pointing toward the left tire area.