Wow, where to start. First of all, this page by John Monnin (Wrenchmonkey) goes through the entire process in detail:
http://www.wrenchmonkey.com/Webpages/6G74swap.html
Go here first, read and profit. This is not a direct swap by any means, but it really isn't all that complicated provided you got all the accessories off your 3.5L engine and kept the stuff off your 3.0L as well. There will be some amount of swapping, grinding and cutting to make it all work.
Xwire did this conversion in my 98SL in 2006, and the car still runs as strong as ever. If you take your time, source the correct parts, and don't get crazy, you should have a very strong car, especially if you're only staying NA.
If you're going turbo, it's a different story entirely, and will require another sizeable investment in internal parts, turbos, fuel and engine management/tuning.
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