C clamp and socket as mentioned, OR a vice and socket. Another way is some PB blaster or other good penetrating oil, let sit a few. Then support the end of shaft on a 4 x 4 or other solid block of wood. Take a beat up socket or good drift punch and drop a few blows to one of the cups. Continue till cups are popped . UNless you happen to have a 2-3-5+ Ton press.

Or rent the tool, which is basically a c-clamp.