Haven't seen source material on how to do it, but the trick is to make them as useful as possible while being as inconspicuous as possible. Panels that lift out are easier to construct as you only need a lip to hold it up and the cuts can be made to closer tolerances. Hinged panels are more complicated.
In this first photo, Mel's Diner and the Car Wash are on a removable panel that is bordered by the roads. It's a two-man operation as it has to be handed off to another person.
In this photo, the bus depot and parking lot are a removable panel.
We have another access hatch under the machine shop by the Roundhouse. The shop has since been finished and ground-cover installed. Again, this is a two-man operation as the shop and platform need to be handed off.
The first one we did wasn't as well planned. Basically, we had cut a hole in the bench work which was planned to be a lift-out, but the odd shape made it difficult to deal with. The solution was to build a hollow building surrounding the hole. In this case, the building was constructed so the sides can be removed and lowered through the hole if necessary for additional reach.