It can be done,but without the right equipment its a lot more likely "safely" will be tougher....
A gantry crane is a good way to lift a truck body off the frame,I know you say you don't have one,but a suitable one could be made out of timbers properly joined together,or large pipes,etc..
A few guys I know use nothing more than 4 heavy duty sawhorses made of channel iron and 6x6 timbers --they jack the body up enough to slide a timber under it and support it with the sawhorses --some have used 55 gallon drums filled with enough water to stabilize them also instead of sawhorses..
The hardest part is getting the body jacked up that high--its a tedious process--jack it up,stuff some 2x4's or blocks between the frame and body,and add another block to the jack,and repeat...after it gets high enough for you to put the timers under the body and across the horses or barrels,is when its very unstable and the most dangerous..
Some have used an engine hoist to do one end at a time,but the single hook lifting point can be hazardous once its up high enough--put bolts in the chain links against the hooks so it cant slide to one side unexpectedly...also be sure the place you attach the chain can withstand the weight of the body...having one rip out suddenly can be fatal..
The easiest way to lift one is with a bucket loader,forklift,backhoe,or excavator,but the risk of damage is increased using heavy equipment..