At about 100k miles I bled each caliper until the new clear fluid came out. Old stuff was dark so it was easy to tell when it was all out. I dont know how well that clears out the fluid in the ABS unit... maybe someone else can help.
I dont know if its the best way or not.. but i have almost 142k and brakes still work
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-2000 Grand Prix GTP
-Pace Setter Headers
-Pace Setter 3in Catback with 3in ZZP Res
-3.4in Pulley -DHP PCM - K&N Intake -Poly Mounts -AFC2.0 -KYB GR2 Struts -some other stuff