Here's how I do it.
First off, I never have sleep paralysis when going to bed in the evening. I always have it after going back to bed after about 4 or 5 hours of sleep. This is normal, because of the REM periods. I lie down, relax, and try to be as aware as possible that I'm drifting into sleep. I try to feel my body, my hands, my feet, and my muscles. As soon as I feel an increased amount of "heaviness" in my body, I know that sleep paralysis is around the corner. I get a little excited, but breathe deeply and calm down so I don't disrupt the process. After a few more moments, this heaviness transforms into sleep paralysis.
While in SP, the first thing I do is tell myself that this is normal, and that there is nothing to be afraid about. I relax, and tell myself that I will enter a lucid dream. Again, I try not to let my mind wander, and focus on my intention that I will ENTER the dreamworld. Here is where the strange sensations begin. I think this is hypnagogic imagery. Usually I see no images, but only feel strong sensations and hear different sounds. I almost always have a feeling of my head vibrating, my jaw feeling tight, and my electrical shocks going through my legs and hips. There is no pain, but it is very uncomfortable the first time, until you get used to it. I always tell myself that everything is an illusion, and that nothing can harm me. It helps me when I tell myself I will enter a dream any moment. Now at this point I try to focus on where I want to be in the dream. I usually imagine the room I'm sleeping in. After relaxing, focusing, and expecting this to happen, it happens.
When it feels "right", I either open my eyes in the dream version of my bedroom, or I just find myself standing in the bed room, or sitting on the bed. If the attempt fails, I will either have a non-lucid dream, or I will wake up later, not remembering any dreams.
In regards to your second question, I haven't had much success with lucid dreams during naps. Not WILD or any other method for that matter. The difference although, is that when first falling asleep in the evening you will not enter the REM period in which you dream, but you have to sleep about 2 hours or so before the first period begins. With napping, it is a different story, because you enter REM. I might be wrong about this particular point though.
Either way, I always have regular DILDs caused by reality checks, or WILDs through the method I described above.
Hope this helps you in your attempts. Good luck! 
Jakob
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