Will cost you a few grand, the company you hire they will get all the permits, notify all neighbors, provide site inspector, etc.

You should call the code official for your municipality and ask what are the requirements for permits and inspections. In some locales the amount of asbestos to be removed determines how it needs to be removed and who is allowed to remove it.

Are you sure the wrapping is asbestos? How many feed of duct work needs to be removed?

Asbestos abatement can be very expensive. You might be able to wrap the ducts with something which will encapsulate the asbestos, but that depends on local codes.

^^^^ Asbestos abatement is hornets nest of scammers (like mold abatement and crawlspace sealing). Just be very careful to get several estimates to make sure you aren't being had.

For that reason you may consider doing it yourself if it is something you are comfortable doing.

The professional abatement contractors arrange for all the procedures and safety codes. The paperwork is also done by them.