Yup, easy job. Remove the wheels, grab the back of the sensor with needle nose pliers and simply pull it out.

To install, line up the grooves in the sensor with the corresponding ridge in the pad and push it in. The sensor body is made of rubber, and it's just a snug fit that holds it in.

Be REALLY careful with the wire (don't pull the sensor out by the wire) as its thin and easy to snap.