Actually, the bike should come with valves. You pretty much install the valves, add some sealant, pump them up, and then move them around to spread the sealant.
Mine took 2 attempts. After the first attempt they slowly lost air. I then added some more sealant and pumped them up to 65 psi and rode the bike around a bit. I think pumping them up to 65 psi was the key -- it seemed to help the beads seat more securely. This was in accordance with the Specialized instructions.