If you haven't found it by yourself yet, there is a Headlight Lens Restorer kit they sell at Auto Zone (part number: 39008. Kit costs about $20. I am assuming this would be what you are looking for. There is no need to remove the headlight assemblies from the car, which is GREAT as the Bonnie'* can really be a pain.
The kit is basically a drill backer with various stages of sandpaper, ranging from medium grit to silk, and some buffing compound. The general idea here is wet-sanding. I did mine in about an hour. Fantastic results! Hope this helps!