This question suggests you are actually referring to the rotor carrier bolts, not the caliper bolts.
Applying gentle heat and penetrating oil are your best bets. ASSuming we are indeed referring to rotor carrier bolts, use a quality 3/8" drive allen-head hex driver, and since they appear to be frozen in place, you'll benefit from an extension as well. I believe it is a 6mm driver, but you better check on that first - it might be a 5mm.
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