Oh Boy... here we go.
There is a good DVD on the subject... Here is a link to the most popular one:
http://www.jimvonbaden.com/
(Note: the photos show a GS... the actual work DVD is for the R1200... the engine is all the same.)
This site also has free pictorial guides for most if not everything you will do.
Basically this is what I personally do every 6k miles.
Oil and oil filter change along with crush washer.
Final Drive drain and refill.
Valve Adjustment
Throttle body synchronization (TBS)
At the 12k service I also do the Air filter, the transmission drain and re-fill
Note: The valves and the TBS I do not do every time after my 24k service since once they are broken in they do not need much change. But, I will do it every time before a significant trip if it feels like it needs it.