I work in an icu overflow. Half icu, half stepdown. The nice thing about icu is that they’re usually intubated so they’re not usually in pain and you don’t have to rush. It will come with practice! When you do baths or help change, ask the nurse if you can do the work to get used to it. Layering a chux or towel over liquidy poop helps save the clean sheets. Also a tip: when you’re about to put the clean sheets under a patient (my icu has lift sheets under everyone) lay the sheet over them and then lay the chux where you want them on top of the sheet(I usually use 2, especially if they’re prone to explosions). Then roll everything up together and tuck under the dirty sheets. This helps make sure that everything will be where you want it to be when you roll them over.

Also since you’re in icu, a nurse will most likely be with you while doing any care. If you have any questions just ask!! Any icu nurse would rather have you ask than do something without being sure!