I painted mine without removing them. Remove the wheel for access, clean the caliper with degreaser (works better than brake clean for this), mask as needed with newspaper and masking tape, and paint away.
I did not bother to paint the surfaces that could not be seen with the wheel on. I did paint the visable part of the caliper bracket as well. I really am not concerned about how it looks to someone that is changing the oil when the car is on a hoist. If you do care about the back side, there is adequate room to paint them back there on the car too.
I chose to paint them silver, which most nearly matches the factory dacromat finish that came on the calipers, brackets, and rotors on the SVT. It is also a match for the factory wheels.
Others colors would also look great depending on the color of the car and your taste preferences. Black is universally great looking and in my mind red looks great on some cars.
