While you've got the throttle body off, might as well go ahead and check that the TPS is properly adjusted too:
http://www.cygnusx1.net/Supra/Librar...ction=FI&P=100
Yes, you can replace a spring with the head still on the engine. Pull all the spark plugs, remove the cam, remove the bucket and shim of the bad valve, disconnect the battery and remove the EFI fuse. Now rotate the crank until the piston of the cylinder with the bad valve spring is all the way at the bottom. Start feeding in some very soft and VERY long rope through the spark plug hole. Once you've got a good amount in there and can't feed in any more rotate the crank again while someone pulls on the bad valve's stem lightly. This rope will push the valve up and closed and with enough pressure that you'll be able to do the tapping needed to free the keepers. When you're done you just back the crank off and pull the rope out.