How to do spark plugs properly?

Hyundai coupe 2.0 2006

1. I cannot see it in the owners manual. Can anyone tell me what the torque setting for spark plugs on this vehicle are?

2. How can I do this properly without a torque wrench. I’ve seen some videos where they tighten it by hand and when it doesn’t turn further then give a little nudge. Other videos tighten by hand until it doesn’t go further then go another half turn or 2/3rds of a turn. This would be very different final torques I inagine. In both cases I can’t tell just how much force they applied with their hands to begin with.

So how can I do this properly without a torque wrench? Also does the whole process allow for some variation so if you are ove or under certain amount of pounds or under it won’t matter?

Thanks.