Edit: Sorry Tom. I think I mis-read your original post. I thought you wanted to clean Intake valves. On second read, I see that you want to clean the inside of the Intake manifold. I'll leave the following post as it may be useful to others.
Take the car to a European Car Specialist or Dealership. BMW, Audi, VW, Mercedes and other manufacturers have terrible problems with deposits building up on Intake valves because of Direct Fuel Injection. These dealerships or specialty shops do " Walnut Blasting " or have similar procedures that clean the Intake valves ( apparently very well ) with no removal of the cylinder head required.
Video:
https://www.youtube.com/watch?v=ONp6gQXpyKU
Before and After comparison:
http://www.e90post.com/forums/showthread.php?t=882990
You can also buy the blasting equipment and Walnut Media from Harbor Freight for a reasonable price.
Walnut shells are used because they are tough enough to blast away the carbon, but soft enough to not cause any damage to internal engine parts if some particles remain in the cylinder after vacuuming.