Hate to say it but you're gonna make some mess....
A bit of planning should keep it small & contained so it shouldn't be too bad.
The Heat exchanger will usually drain into a bucket, via the drain plug. A funnel and some soft tubing may help. the specifics of the hull will dictate the details.
Draining the block is where the 'mess' is likely to happen. If you can find a drain pan that will fit between the stringers, it may help contain the old coolant. Once the block is drained you might want to consider a drain valve (petcock) for the next service.
I know a few that use 'bottomless' 2liter bottles to catch old coolant - never tried it though I cant imagine it to be easy...