You can pull the line that feeds your radiator or cooler and direct it to a bucket using some rubber hose slid on the end. Get a case of fluid ready to start dumping in the trans and start the car. Let it idle and keep dumping in until you see new/cherry red fluid coming out the rubber hose into the bucket. Immediately turn off car (this is a job that you need to get a helper to run engine/shut off).
This method certainly isn't going to make it into a vehicle service manual, but will replace more of the old fluid than adding 4 quarts at a time.