Ahh. Well typically since you're S-off you just flash the kernel just like a ROM. Download it, put it on the root of your SD card, boot to recovery, wipe cache and Dalvik cache...no need for the full wipe. Flash the .zip and reboot...you're done.
You can also push it as the boot.img via ADB but I'm no good with command prompts so I prefer flashing in recovery.
As always, make a nandroid before you start fooling with kernels and stuff in case you don't like what it does to your phone and of course make sure the kernel is compatible with ICS and Sense.