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Found the easiest way (for me anyway) was to put the tyre on the wheel, squirt soapy water around the bead, take the valve core out, pump like mad (I only have a track pump, no air blast canister/compressor), get the tyre seated (satisfying popping noises), detach pump nozzle, put the sealant in through the valve stem, replace valve core, and pump up, then give the wheels a good spin.
Result is inflated tyre, and no sealant explosion!
Some are just milky latex, others have bits in (which I think are supposed to fill holes better).
I've been fine just using the milky stuff, Stans is what my lbs has, so I just use that.