https://www.youtube.com/watch?v=HsQIoPyfQzM
https://www.youtube.com/watch?v=IW_BBp3FPMQ

[F]ront, [U]pside, [L]eft, [R]ight, [D]ownside
(' - inverse)

SWAP FIRST CROSS

  F' U L' U'

CORNERS

  R' D' R D (repeat)

BOTTOM TO MIDDLE EDGES (TURN CUBE)

  (right) U  R  U' R' U' F' U  F
  (left)  U' L' U  L  U  F  U' F'

LAST CROSS

  F R U R' U' F' (repeat)

ALIGN LAST CROSS

  R U R' U R U U R' U

LAST CORNERS (NOT ALIGNED)

  U R U' L' U R' U' L

ALIGN CORNERS

  R' D' R D (repeat)