Make yourself a hand!
Get a bamboo pole about 4 feet in length, find an old glove and stuff it with anything that allows it to hold a hand shape and duct tape it to the end of the pole.
Have the colt on a halter and use the hand to reach the parts that are not safe for you to handle. Stand by his shoulder so you are safe and I always allow them to circle around me if they are nervous but I keep the hand on them at all times. If he lashes out, do not get angry but push the hand under him and touch the other leg.
It is important to remain calm and not get in the slightest bit bothered by any antics he tries on. Just be persistent and keep touching, it gives him the chance to learn in a controlled manner that no matter what he does you are still going to continue with what you want to do and he will learn that the hand does not hurt him and fighting is pointless and accept it.Then you can use your own hand to touch him.
Just remember that young horses are very unbalanced when first asked to stand on three legs so only ask for him to just lift for a second and then release before he starts to fight you.