So Android 4.0.4's starting to roll out to the Verizon version of the Samsung Galaxy Nexus. But maybe you don't want to wait? (We sure don't.) Android forums adviser and Galaxy Nexus guru dmmarck has you covered. He's went through and made the process as simple as possible, and is in there fielding questions and updating phones right now.
What are you waiting for? Jump in and join the fun!