I've only heard rumors of people doing that. The sensors need to be torqued down to a specific value and you should keep their orientation the same as the factory install. Would be very tough to do that with the intake installed.
The Bentley Manual page 113-16 says the upper intake manifold must be removed to replace the knock sensors (two on one harness). The upper manifold unbolts from the lower manifold, which remains on the head. You can download the manual. Google Bentley_BMW_3-Series_Service_Manual_(e36) and there will be several sites offering it free.
EDIT: Better search for bentley bmw 3-series _service_manual(e36).pdf
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