Someone please tell me how that is done.
Well on my cabinets it involved standing on the countertops and using a smaller brush or roller in places. I imagine your situation would involve something similar, though I couldn't say for sure since you mentioned nothing about your cabinet configuration.
Yep, that's what I do too. I keep the ladder nearby to get up and down from the countertop. I had to sit on top of the refrigerator to get one corner done.